Revert "Mazda: alert when LKAS is disabled (commaai#23273)"

This reverts commit f25121b.
budney · Dec 21, 2021 · c92199a · c92199a
1 parent f25121b
commit c92199a
Show file tree

Hide file tree

Showing 4 changed files with 3 additions and 14 deletions.
diff --git a/cereal b/cereal
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
@@ -16,7 +16,6 @@ def __init__(self, CP):
     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 @@ def update(self, cp, cp_cam):
 
     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
@@ -86,9 +86,7 @@ def update(self, c, can_strings):
     # 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
@@ -832,9 +832,4 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
     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"),
-  },
-
 }