Mazda: fix occasional main cruise disable (#22807)

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
old-commit-hash: b18661a3a6

selfdrive/car/mazda/carcontroller.py

@@ -33,13 +33,14 @@ class CarController():
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
     if c.cruiseControl.cancel or (CS.out.cruiseState.enabled and not c.enabled):
-      # if brake is pressed, let us wait >20ms before trying to disable crz to avoid
+      # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
-      # will disable the crz 'main on'
+      # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
+      # read 3 messages and most likely sync state before we attempt cancel.
       self.brake_counter = self.brake_counter + 1
-      if frame % 20 == 0 and not (CS.out.brakePressed and self.brake_counter < 3):
+      if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
         # Cancel Stock ACC if it's enabled while OP is disengaged
-        # Send at a rate of 5hz until we sync with stock ACC state
+        # Send at a rate of 10hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
     else:
       self.brake_counter = 0