From d19ac7e49bd48ceb30ccf9688b6b03bc798cd222 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Sun, 10 Oct 2021 16:19:43 -0500 Subject: [PATCH] Mazda: Fix steer lockout issue in CX-9 2021 (#22506) Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/carstate.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index 1e1efe49ff..0507a8c3a2 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -78,8 +78,8 @@ class CarState(CarStateBase): self.low_speed_lockout = False self.low_speed_alert = False - # On if no driver torque the last 5 seconds - ret.steerWarning = cp.vl["STEER_RATE"]["HANDS_OFF_5_SECONDS"] == 1 + # Check if LKAS is disabled due to lack of driver torque + ret.steerWarning = (cp.vl["STEER_RATE"]["HANDS_OFF_5_SECONDS"] == 1) and (cp.vl["STEER_RATE"]["LKAS_BLOCK"] == 1) self.acc_active_last = ret.cruiseState.enabled