clean up car specific a bit

commaai · Oct 2, 2024 · aad8f9b · aad8f9b
1 parent e3f67a6
commit aad8f9b
Showing 1 changed file with 3 additions and 6 deletions.
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
@@ -50,15 +50,10 @@ 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])
 
- if CS.lkas_enabled: # type: ignore[attr-defined]
- events.add(EventName.invalidLkasSetting)
-
  elif self.CP.carName == 'mazda':
  events = self.create_common_events(CS.out, CS_prev)
 
- if CS.lkas_disabled: # type: ignore[attr-defined]
- events.add(EventName.lkasDisabled)
- elif CS.low_speed_alert: # type: ignore[attr-defined]
+ if not CS.out.invalidLkasSetting and CS.low_speed_alert: # type: ignore[attr-defined]
  events.add(EventName.belowSteerSpeed)
 
  elif self.CP.carName == 'chrysler':
@@ -211,6 +206,8 @@ def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extr
  events.add(EventName.gasPressedOverride)
  if CS.vehicleSensorsInvalid:
  events.add(EventName.vehicleSensorsInvalid)
+ if CS.invalidLkasSetting:
+ events.add(EventName.invalidLkasSetting)
 
  # Handle button presses
  for b in CS.buttonEvents: