Refactor actuator enabling checks

Refactor actuator enabling checks into a conditional block for better clarity and organization.
2 weeks ago · 8bd4e9878a
parent 76e91da3ad
commit 8bd4e9878a
1 changed files with 8 additions and 7 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -88,6 +88,7 @@ class Controls:
    model_v2 = self.sm['modelV2']

    CC = car.CarControl.new_message()
+    if self.sm.all_checks(['selfdriveState']):
      CC.enabled = self.sm['selfdriveState'].enabled
  
      # Check which actuators can be enabled