alerts: make soft disables an orange alert (#22925)

selfdrive/controls/controlsd.py

@@ -404,7 +404,7 @@ class Controls:
     elif self.CP.pcmCruise and CS.cruiseState.enabled:
       self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
 
-    # decrease the soft disable timer at every step, as it's reset on
+    # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
     self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
 
@@ -426,7 +426,7 @@ class Controls:
         if self.state == State.enabled:
           if self.events.any(ET.SOFT_DISABLE):
             self.state = State.softDisabling
-            self.soft_disable_timer = 300   # 3s
+            self.soft_disable_timer = int(3 / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
         # SOFT DISABLING

selfdrive/controls/lib/events.py

@@ -149,7 +149,7 @@ class NoEntryAlert(Alert):
 class SoftDisableAlert(Alert):
   def __init__(self, alert_text_2):
     super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
-                     AlertStatus.critical, AlertSize.full,
+                     AlertStatus.userPrompt, AlertSize.full,
                      Priority.MID, VisualAlert.steerRequired,
                      AudibleAlert.chimeWarningRepeatInfinite, 2.),