diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 8882eecb61..32a02fd15d 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -50,6 +50,8 @@ class CarController():
     if frame % 50 == 0:
       ldw = c.hudControl.visualAlert == VisualAlert.ldw
       steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
+      # TODO: find a way to silence audible warnings so we can add more hud alerts
+      steer_required = steer_required and CS.lkas_allowed_speed
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 311160cdeb..03098a4e94 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0caad1211b58557625231e54a1329be3e8da668f
\ No newline at end of file
+72bf5e2fc5628714a9bbb7cc641954735264f022
\ No newline at end of file