Merge 8bd4e9878a into 03e9777c3f

selfdrive/controls/controlsd.py

@@ -88,13 +88,14 @@ class Controls:
     model_v2 = self.sm['modelV2']
 
     CC = car.CarControl.new_message()
-    CC.enabled = self.sm['selfdriveState'].enabled
-
-    # Check which actuators can be enabled
-    standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
-    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
-                   (not standstill or self.CP.steerAtStandstill)
-    CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
+    if self.sm.all_checks(['selfdriveState']):
+      CC.enabled = self.sm['selfdriveState'].enabled
+  
+      # Check which actuators can be enabled
+      standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
+      CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
+                     (not standstill or self.CP.steerAtStandstill)
+      CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state