From 135385c5fb47ca1b9efaf3ae9e388b44cd6e538d Mon Sep 17 00:00:00 2001
From: Andre Volmensky <andre@volmens.ky>
Date: Sat, 16 May 2020 17:14:10 +0900
Subject: [PATCH] Bugfix: Reset saturated_count if angle no longer saturated
 (#1522)

---
 selfdrive/controls/controlsd.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e529054013..93353d0690 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -364,6 +364,8 @@ class Controls:
 
     if angle_control_saturated and not CS.steeringPressed and self.active:
       self.saturated_count += 1
+    else:
+      self.saturated_count = 0
 
     # Send a "steering required alert" if saturation count has reached the limit
     if (lac_log.saturated and not CS.steeringPressed) or \