diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index a96c68b0e8..2c8cc9f015 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -35,8 +35,8 @@ class CarState(CarStateBase): can_gear = int(cp.vl["GEAR"]["GEAR"]) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) - ret.leftBlinker = cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1 - ret.rightBlinker = cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1 + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1, + cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1) ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"] ret.steeringTorque = cp.vl["STEER_TORQUE"]["STEER_TORQUE_SENSOR"]