no throttle when not enabled (#22474)

2021-10-07 11:15:08 -07:00 · 2021-10-07 11:15:08 -07:00 · e5da7cc04b
parent 5527736df6
commit e5da7cc04b
1 changed files with 4 additions and 0 deletions
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@ -231,6 +231,10 @@ class CarController():
            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
            # This prevents unexpected pedal range rescaling
            apply_gas = clip(gas_mult * gas, 0., 1.)
+            if enabled:
+              apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
+            else:
+              apply_gas = 0.0
            can_sends.append(create_gas_command(self.packer, apply_gas, idx))

    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,