Eliminated "steering temporarily unavailable" warnings that occurred during rapid cruise button presses on straight roads. Root cause: When CC.latActive=False (lateral control temporarily disabled), the steer_error guard prevented sending 0x22E STEERING_COMMAND messages to the stepper servo. This created communication gaps up to 1.4 seconds, triggering the servo's built-in COMM error protection that autonomously enters SOFT_OFF mode when gaps exceed 50ms (5 frames at 100Hz). The bug created a feedback loop: 1. Initial small 0x22E gap → servo enters SOFT_OFF 2. SOFT_OFF detection → openpilot sets latActive=False 3. latActive=False → steer_error guard blocks 0x22E for 1.4s 4. Extended gap → prolonged SOFT_OFF lockout Fix: Remove steer_error guard to ensure 0x22E is sent EVERY frame at 100Hz, regardless of latActive status. When disabled, send SteeringModes.Off instead of skipping communication entirely. The stepper servo requires continuous communication - sending "Off" mode is safer than communication gaps. Evidence from route 00000135--ebf5c7d719--39: - Gap BMW-E8x-E9x#1: 59.7ms at t=2413.172s → SOFT_OFF triggered 17ms later - Gap BMW-E8x-E9x#2: 1399.8ms with latActive=False for 142 consecutive frames - 100% correlation: All major gaps (>1s) caused by latActive=False Technical details: - Stepper servo expects 0x22E at 100Hz (10ms intervals) - Gap threshold: >50ms (5 frames) triggers COMM error - SOFT_OFF reported via 0x22F STEERING_STATUS (CONTROL_STATUS bit 0x04) - Fix ensures continuous 100Hz communication even during lateral disable Related fixes: - Operator precedence bug (carstate.py:172-175) - commit 3ba47ba - Resume button v6 (carstate.py:199-225) - commit c93e524 Documentation: ~/driving_data/docs/steerTempFault/README.md Analysis scripts: ~/driving_data/scripts/analyze_servo_command_gaps.py

Update with E65 data #2

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