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Under the alpha-long radar takeover the synthetic radar sent only empty 5/6 track templates, and the camera read that as a dead radar: auto high beams stopped deciding. Send one occupied 0x365 track on the camera bus, a far static object (175 m nominal, 87-350 m band, zero closing speed) that never suppresses beams; the body bus keeps the empty templates stop-and-go needs, and libsafety pins the occupied pattern per slot on the camera bus only. The replacement CRZ_CTRL packed the camera's HBC-arming relay bit as 0, so the dash's green HBC light never lit. Relay 0x440 BIT2 into CRZ_CTRL NEW_SIGNAL_3 (bit 13) on both buses at 50 Hz, as stock does. The idle 0x362 template drops its captured c7 8c phantom track, which stock never sends idle, and the validator special case goes with it. Validation: night drive with alpha-long: beams react to darkness, bright areas, oncoming traffic, and leads; the green HBC light follows arming. Stop-and-go verified on the empty body-bus templates. 551 Mazda car tests, 278 Mazda safety tests, 781 car-wide interface tests; misra check passes.
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Problem
Synthetic radar during alpha-long was sending empty 5/6 tracks, so the camera saw a dead radar and stopped deciding auto high beams. Also, the replacement CRZ_CTRL never relayed the camera's HBC-arm bit, so the dash's green HBC light never lit.
Fix
Validation
AI Usage
Disclaimer: GLM-5.3 by Z.ai was used to help develop, debug, and document this submission. All changes were reviewed and validated by me.