From 883be4410f7f44a573f098fb2cc3d97bec3ae212 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 8 Dec 2022 03:01:57 -0800
Subject: [PATCH] LatControl: remove duplicate logic for saturation (#26725)

this is already checked
old-commit-hash: d97336d5326190559d1ff0518daee273f270aaf8
---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 342ecc52fe..3840d6e0de 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -625,7 +625,7 @@ class Controls:
       max_torque = abs(self.last_actuators.steer) > 0.99
       if undershooting and turning and good_speed and max_torque:
         self.events.add(EventName.steerSaturated)
-    elif lac_log.active and not CS.steeringPressed and lac_log.saturated:
+    elif lac_log.active and lac_log.saturated:
       dpath_points = lat_plan.dPathPoints
       if len(dpath_points):
         # Check if we deviated from the path