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Updated Mazda (markdown)

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Jafar Al-Gharaibeh 2021-12-24 16:26:23 -06:00
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Mazda.md

@ -9,10 +9,10 @@
The Mazda community is strong, and most Mazda models are community supported with limitations. Out of the box, only CX-9 2021 is officially supported. For all other models OpenPilot is only available in dashcam mode due to a steering lockout that occurs when driver does not touch the steering wheel for more than 5 seconds. Using Stock OpenPilot with Mazda models that have limitations requires source code changes, and always keeping your hands on the wheel or use of a weighted steering lockout mitigation or changing Electronic Power Steering motor (EPS) to 2021 CX-9 where compatible. Failure to overcome the steering lockout results in the car not responding to steer commands from OpenPilot.
To change source code from dashcam only mode, change the line in `selfdrive/car/mazda/interface.py` [[here]](https://github.com/commaai/openpilot/blob/master/selfdrive/car/mazda/interface.py#L24)
To change source code from dashcam only mode, change the line in `selfdrive/car/mazda/interface.py` [[here]](https://github.com/commaai/openpilot/blob/master/selfdrive/car/mazda/interface.py#L25)
from:
```
ret.dashcamOnly = True
ret.dashcamOnly = candidate not in [CAR.CX9_2021]
```
to
```
@ -50,7 +50,7 @@ Community Supported Models with Limitation
## Lateral Control
Mazda LKAS is not available on low speeds. In particular, LKAS is not available until the car drives above 32mph/52kph. LKAS gets disabled when the speed goes below 28mpg/45kph. OP will NOT allow initial engagement if LKAS is not available. If OP is already engaged and LKAS becomes unavailable, OP will continue to be engaged but will not steer and will display a warning about steering being unavailable.
Mazda LKAS is not available on low speeds. In particular, LKAS is not available until the car drives above 32mph/52kph. LKAS gets disabled when the speed goes below 28mpg/45kph. When OP is engaged but stock LKAS is not available, OP continues to be engaged but will not steer and will display a warning about steering being unavailable.
### Torque
CX-9 2019-2021 offer the best torque among Mazda cars. They offer twice the torque compared to other models/years allowing them to make tighter turns even on city streets. For other cars the available steering torque is adequate for most highway driving conditions. City driving requires driver intervention on sharp turns.