check all checks for carControl in case controlsd dies

selfdrive/car/card.py

@@ -130,13 +130,14 @@ class Car:
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
-    # send car controls over can
-    now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-    # TODO: CC shouldn't be builder
-    self.last_actuators_output, can_sends = self.CI.apply(CC.as_builder(), now_nanos)
-    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
-
-    self.CC_prev = CC
+    if self.sm.all_checks(['carControl']):
+      # send car controls over can
+      now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+      # TODO: CC shouldn't be builder
+      self.last_actuators_output, can_sends = self.CI.apply(CC.as_builder(), now_nanos)
+      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+
+      self.CC_prev = CC
 
   def step(self):
     controlsState = self.sm['controlsState']