Mazda: allow engaging below min LKAS speed (#22737)

* Mazda: allow engagement below minimum LKAS speed

* bump panda

* bump panda

panda

@@ -1 +1 @@
-Subproject commit 06ec4331f4e18faf30562ca5dfcfca2ae082d912
+Subproject commit 0d4e98f6056a69da8933c8a690a803bc96e0e528

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.lkas_allowed and self.acc_active_last:
-        if not self.acc_active_last:
+        self.low_speed_alert = True
-          self.low_speed_lockout = True
-        else:
-          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

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)