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Updated Mazda (markdown)

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S0akedInBleach 2021-12-22 14:46:29 -05:00
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Mazda.md

@ -4,7 +4,11 @@
# Overview
Mazda is community supported and available in dashcam mode only in OP due to a steer lockout if the driver does not touch the steering wheel for more than 5 seconds. Currently, the only workaround for this issue is to use a weight on the steering wheel. If you want to use OP with Mazda in non-dashcam mode you have to make changes to the source code and use it at your own risk. To do that, change the line in `selfdrive/car/mazda/interface.py` [[here]](https://github.com/commaai/openpilot/blob/master/selfdrive/car/mazda/interface.py#L24)
**Changing source code, using weighted lockout mitigation or changing EPS is all done at your own risk.**
The Mazda community is strong, and most late model Mazda models are community supported with limitations. For models with limitations, 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.
**Changing source code, using weighted lockout mitigation or changing EPS is all done at your own risk.**
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)
from:
```
ret.dashcamOnly = True
@ -14,7 +18,6 @@ to
ret.dashcamOnly = False
```
Remember that you have to keep your hands on the wheel at all times, or use a steering lockout mitigation such as a weight on the steering wheel, otherwise the car does not respond to steer commands from OP.
# Make-Specific Terms
@ -28,7 +31,17 @@ Mazda Radar Cruise Control | MRCC | Mazda Adaptive Cruise Control - ACC
Lane-Keep Assist System | LAS | Mazda LKAS
# Supported models
CX-5, CX-9, and Mazda 6 for model years 2017-2021. Depending on the country and the specific model, 2016/2017 might also work any may require a different connector from the one sold at the comma shop. The CX-3 most likely falls into the same 2017-2020 category of supported cars. Mazda 3 is supported up to 2018 model. Mazda 3 2019 and newer use a new driver assistance system and is not yet supported.
# Supported models
Official Community Supported Models
> * 2021 CX-9
Community Supported Models
> * 2017-2020 CX-9
> * 2017-2021 Mazda 6, and CX-5
> * 2016-2017 models may require a different connector than the Comma connector
> * 2017-2018 Mazda 3
> * 2019 and newer use a new driver assistance system and is not yet supported
> * 2017-2020 CX-3 are suspected to be Community Supported with Limitations
# openpilot Capabilities