Volkswagen: no actuation while pre-enabled

selfdrive/car/volkswagen/carcontroller.py

@@ -21,7 +21,7 @@ class CarController():
 
     self.steer_rate_limited = False
 
-  def update(self, enabled, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
+  def update(self, c, enabled, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
     """ Controls thread """
 
     can_sends = []
@@ -39,7 +39,7 @@ class CarController():
       # torque value. Do that anytime we happen to have 0 torque, or failing that,
       # when exceeding ~1/3 the 360 second timer.
 
-      if enabled and CS.out.vEgo > CS.CP.minSteerSpeed and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
+      if c.active and CS.out.vEgo > CS.CP.minSteerSpeed and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
         self.steer_rate_limited = new_steer != apply_steer

selfdrive/car/volkswagen/interface.py

@@ -217,7 +217,7 @@ class CarInterface(CarInterfaceBase):
 
   def apply(self, c):
     hud_control = c.hudControl
-    ret = self.CC.update(c.enabled, self.CS, self.frame, self.ext_bus, c.actuators,
+    ret = self.CC.update(c, c.enabled, self.CS, self.frame, self.ext_bus, c.actuators,
                          hud_control.visualAlert,
                          hud_control.leftLaneVisible,
                          hud_control.rightLaneVisible,