Conversation
Issue: a settings-menu or camera state can leave the EPS taking our steer request and applying none of it, with no block or fault. Fix: detect the silent zero-delivery in CarState and raise invalidLkasSetting; gate the detection on the steer-to-zero EPS; drop the LANE_LINES term it superseded. Superseded by the next commit, which reads the camera's own intervention bits instead. Validation: 552 tests on this tree; delivery measured on routes (LKAS_EFFECTIVE tracks the request when healthy).
CAM_SETTINGS.LKAS_INERVENTION_ON1 and ILKAS_NTERVENTION_ON2 clear together when the lane assist is off
Issue: non-TJA trims expose no wheel button for lateral; the dash LKAS button is the only switch. Fix: read the button's edge from the camera setting's level, the same level that refuses lateral; one lateral switch per car, a declared TJA button wins; the panda arms lateral on the button's on-press; a stock cruise openpilot never joined is left alone. Validation: 891 tests on this tree.
mzdnick
force-pushed
the
mazda-lka-toggle-v2
branch
from
September 15, 2026 19:54
8bf11c1 to
832eba9
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.