Honda: no actuation while in pre-enabled state (#23657)

* Honda: no actuation in pre-enabled state

* Honda: no actuation while in pre-enabled state
old-commit-hash: 8eb6a6a535
commatwo_master
Adeeb Shihadeh 4 years ago committed by GitHub
parent 783779c2d6
commit 6e9e095184
  1. 4
      selfdrive/car/honda/carcontroller.py

@ -117,7 +117,7 @@ class CarController():
P = self.params
if enabled:
if active:
accel = actuators.accel
gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, CS.CP.carFingerprint)
else:
@ -152,7 +152,7 @@ class CarController():
# steer torque is converted back to CAN reference (positive when steering right)
apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
lkas_active = enabled and not CS.steer_not_allowed
lkas_active = active and not CS.steer_not_allowed
# Send CAN commands.
can_sends = []

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