From c92199ab1a94d2ea565e68e513bf4f9e3e81d489 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 20 Dec 2021 23:02:02 -0800
Subject: [PATCH] Revert "Mazda: alert when LKAS is disabled (#23273)"

This reverts commit f25121b7364a2babef5022e852cf97570bee6da2.
---
 cereal                           | 2 +-
 selfdrive/car/mazda/carstate.py  | 6 +-----
 selfdrive/car/mazda/interface.py | 4 +---
 selfdrive/controls/lib/events.py | 5 -----
 4 files changed, 3 insertions(+), 14 deletions(-)

diff --git a/cereal b/cereal
index e83ec3be7d..f1c5c8ef7c 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit e83ec3be7d83b8d4ce227e7c2027dd1ca5f930b4
+Subproject commit f1c5c8ef7cab05b66892d67b6992f5ac1238ad4f
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 7e80e533a4..7ebf60c96b 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -16,7 +16,6 @@ class CarState(CarStateBase):
     self.acc_active_last = False
     self.low_speed_alert = False
     self.lkas_allowed_speed = False
-    self.lkas_disabled = False
 
   def update(self, cp, cp_cam):
 
@@ -92,12 +91,9 @@ class CarState(CarStateBase):
 
     self.acc_active_last = ret.cruiseState.enabled
 
-    self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
-
-    # camera signals
-    self.lkas_disabled = cp_cam.vl["CAM_LANEINFO"]["LANE_LINES"] == 0
     self.cam_lkas = cp_cam.vl["CAM_LKAS"]
     self.cam_laneinfo = cp_cam.vl["CAM_LANEINFO"]
+    self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
     ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
 
     return ret
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 9557cbc77b..b4ae938228 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -86,9 +86,7 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
-    if self.CS.lkas_disabled:
-      events.add(EventName.lkasDisabled)
-    elif self.CS.low_speed_alert:
+    if self.CS.low_speed_alert:
       events.add(EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 6d84d6fdf2..0048ca661c 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -832,9 +832,4 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
-  EventName.lkasDisabled: {
-    ET.PERMANENT: NormalPermanentAlert("LKAS Disabled: Enable LKAS to engage"),
-    ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
-  },
-
 }