From fef4b0c428ba7f5a276ba90b7362f470feca0c4f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 18 Mar 2022 17:39:32 -0700
Subject: [PATCH] allow steer if minSteerSpeed is <= 0

---
 selfdrive/car/mazda/carstate.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index fa15f2453..6e1ad3e48 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -72,6 +72,8 @@ class CarState(CarStateBase):
         self.lkas_allowed_speed = True
       elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
         self.lkas_allowed_speed = False
+    else:
+      self.lkas_allowed_speed = True
 
     # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
     #       it should be used for carState.cruiseState.nonAdaptive instead