diff --git a/panda b/panda index 06ec4331f4..0d4e98f605 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 06ec4331f4e18faf30562ca5dfcfca2ae082d912 +Subproject commit 0d4e98f6056a69da8933c8a690a803bc96e0e528 diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 2c8cc9f015..b5ab645fb0 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -14,7 +14,6 @@ class CarState(CarStateBase): self.cruise_speed = 0 self.acc_active_last = False - self.low_speed_lockout = True self.low_speed_alert = False self.lkas_allowed = False @@ -69,13 +68,9 @@ class CarState(CarStateBase): ret.cruiseState.speed = cp.vl["CRZ_EVENTS"]["CRZ_SPEED"] * CV.KPH_TO_MS if ret.cruiseState.enabled: - if not self.lkas_allowed: - if not self.acc_active_last: - self.low_speed_lockout = True - else: - self.low_speed_alert = True + if not self.lkas_allowed and self.acc_active_last: + self.low_speed_alert = True else: - self.low_speed_lockout = False self.low_speed_alert = False # Check if LKAS is disabled due to lack of driver torque when all other states indicate diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 5472a02978..db9872eeae 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -86,9 +86,6 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret) - if self.CS.low_speed_lockout: - events.add(EventName.belowEngageSpeed) - if self.CS.low_speed_alert: events.add(EventName.belowSteerSpeed)