clean up mazda steer speed alert

commaai · Oct 2, 2024 · 726ceb5 · 726ceb5
1 parent 2b486b1
commit 726ceb5
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Showing 3 changed files with 5 additions and 8 deletions.
diff --git a/cereal/car.capnp b/cereal/car.capnp
@@ -207,6 +207,7 @@ struct CarState {
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
   espActive @51 :Bool;
   vehicleSensorsInvalid @52 :Bool;  # invalid steering angle readings, etc.
+  lowSpeedAlert @56 :Bool;  # lost steering control due to a dynamic min steering speed
 
   # cruise state
   cruiseState @10 :CruiseState;

diff --git a/opendbc_repo b/opendbc_repo
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
@@ -45,7 +45,7 @@ def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarContro
     if self.CP.carName in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.carName == 'subaru':
+    elif self.CP.carName in ('subaru', 'mazda'):
       events = self.create_common_events(CS.out, CS_prev)
 
     elif self.CP.carName == 'ford':
@@ -54,12 +54,6 @@ def update(self, CS: CarStateBase, CS_prev: car.CarState, CC_prev: car.CarContro
     elif self.CP.carName == 'nissan':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.brake])
 
-    elif self.CP.carName == 'mazda':
-      events = self.create_common_events(CS.out, CS_prev)
-
-      if CS.low_speed_alert:  # type: ignore[attr-defined]
-        events.add(EventName.belowSteerSpeed)
-
     elif self.CP.carName == 'chrysler':
       events = self.create_common_events(CS.out, CS_prev, extra_gears=[GearShifter.low])
 
@@ -212,6 +206,8 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extr
       events.add(EventName.vehicleSensorsInvalid)
     if CS.invalidLkasSetting:
       events.add(EventName.invalidLkasSetting)
+    if CS.lowSpeedAlert:
+      events.add(EventName.belowSteerSpeed)
 
     # Handle button presses
     for b in CS.buttonEvents: