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Honda: no actuation while in pre-enabled state (#23657) 

* Honda: no actuation in pre-enabled state

* Honda: no actuation while in pre-enabled state
pull/23658/head
Adeeb Shihadeh 2022-01-28 15:28:17 -08:00 committed by GitHub
parent 2aa2031352
commit 8eb6a6a535
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1 changed files with 2 additions and 2 deletions
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4
selfdrive/car/honda/carcontroller.py
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@ -117,7 +117,7 @@ class CarController():
P = self.params
if enabled:
if active:
accel = actuators.accel
gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, CS.CP.carFingerprint)
else:
@ -152,7 +152,7 @@ class CarController():
# steer torque is converted back to CAN reference (positive when steering right)
apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
lkas_active = enabled and not CS.steer_not_allowed
lkas_active = active and not CS.steer_not_allowed
# Send CAN commands.
can_sends = []