From 6e9e095184f6931f1b11849fe2ef45703a76f179 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 28 Jan 2022 15:28:17 -0800 Subject: [PATCH] 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: 8eb6a6a535bb037d375e0f81581bcda8d1f5114a --- selfdrive/car/honda/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 33d01f61b6..49581799a7 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/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 = []