From 9c9a060365582eed91548a6c3d1fb368f73bc56e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 3 Mar 2025 19:11:53 -0800
Subject: [PATCH] saturated warning: remove redundant speed check

---
 selfdrive/selfdrived/selfdrived.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 784925c966..68716c1f64 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -331,8 +331,8 @@ class SelfdriveD:
       desired_lateral_accel = controlstate.desiredCurvature * (clipped_speed**2)
       undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
       turning = abs(desired_lateral_accel) > 1.0
-      good_speed = CS.vEgo > 5
-      if undershooting and turning and good_speed and lac.saturated:
+      # TODO: lac.saturated includes speed and other checks, should be pulled out
+      if undershooting and turning and lac.saturated:
         self.events.add(EventName.steerSaturated)
 
     # Check for FCW