From 20085620db8fbb7ed6d7a4ae8b8d147031ad6fe2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 20 Mar 2022 16:41:18 -0700 Subject: [PATCH] Mazda: no steer unavailable alert for cars with full range steering (#23998) * allow steer if minSteerSpeed is <= 0 * need to understand lkas_blocked, can we just use that? need to understand lkas_blocked, can we just use that? * Revert "need to understand lkas_blocked, can we just use that?" This reverts commit 8793fb562d6ba41ce4fd8c8e8a974d639e98f79b. * better * fix * little more clear Co-authored-by: Adeeb Shihadeh --- selfdrive/car/mazda/carstate.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index fa15f2453c..6e1ad3e481 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -72,6 +72,8 @@ class CarState(CarStateBase): self.lkas_allowed_speed = True elif speed_kph < LKAS_LIMITS.DISABLE_SPEED: self.lkas_allowed_speed = False + else: + self.lkas_allowed_speed = True # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on # it should be used for carState.cruiseState.nonAdaptive instead