UI: janky border behavior when engaged under minSteerSpeed

[jyoung8607]

Describe the bug

We allow cars with a non-zero minSteerSpeed to engage below that speed, with a belowSteerSpeed event. This puts up a relatively unobtrusive notice in the UI.

However, the UI border color is still green, and it still goes gray when steeringPressed, as if openpilot were trying to steer but the driver is overriding. But there's no actual openpilot steering to override.

Since the driver is having to actually steer the whole time, this creates visually janky and meaningless UI border flickering between green and gray.

Perhaps we should treat belowSteerSpeed as SelfdriveState.OpenpilotState.overriding the whole time?

Provide a route where the issue occurs

f39cf149898833ff/0000008f--e01634920e

openpilot version

3c28188d7a6b433211d665f5482720275088d7d3

Additional info

https://github.com/user-attachments/assets/96c4faea-61aa-4ee2-a2db-c3d081e33138

[jasseeeem]

As mentioned in RELEASES.md, * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding the above UI makes sense right?

[jyoung8607]

grey means engaged with human overriding the above UI makes sense right?

Technically yes, but that statement doesn't really account for the vehicle being outside its control envelope. What it should really mean is that openpilot only has partial control of the vehicle, with one of the causes being a steeringPressed human driver override.

The preEnable state is already another trigger. I propose that belowSteerSpeed should be another.