use active

selfdrive/car/honda/carcontroller.py

@@ -107,7 +107,7 @@ class CarController():
 
     self.params = CarControllerParams(CP)
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
+  def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params
@@ -213,7 +213,7 @@ class CarController():
         if CS.CP.carFingerprint in HONDA_BOSCH:
           accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
           bosch_gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
-          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint))
+          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, bosch_gas, idx, stopping, starting, CS.CP.carFingerprint))
 
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)

selfdrive/car/honda/hondacan.py

@@ -43,17 +43,17 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
 
 
-def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, starting, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
-  gas_command = gas if enabled and accel > min_gas_accel else -30000
-  accel_command = accel if enabled else 0
-  braking = 1 if enabled and accel < min_gas_accel else 0
-  standstill = 1 if enabled and stopping else 0
-  standstill_release = 1 if enabled and starting else 0
+  gas_command = gas if active and accel > min_gas_accel else -30000
+  accel_command = accel if active else 0
+  braking = 1 if active and accel < min_gas_accel else 0
+  standstill = 1 if active and stopping else 0
+  standstill_release = 1 if active and starting else 0
 
   acc_control_values = {
     # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1

selfdrive/car/honda/interface.py

@@ -418,7 +418,7 @@ class CarInterface(CarInterfaceBase):
     else:
       hud_v_cruise = 255
 
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame,
+    can_sends = self.CC.update(c.enabled, c.active, self.CS, self.frame,
                                c.actuators,
                                c.cruiseControl.cancel,
                                hud_v_cruise,