Send ACC cancel only if we are sure cruise is enabled

Otherwise we run the risk of disabling main cruise

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>

selfdrive/car/mazda/carcontroller.py

@@ -9,7 +9,7 @@ class CarController():
     self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd):
+  def update(self, enabled, CS, frame, actuators):
     """ Controls thread """
 
     can_sends = []
@@ -31,8 +31,8 @@ class CarController():
     else:
       apply_steer = 0
       self.steer_rate_limited = False
-      if pcm_cancel_cmd and frame % 10 == 0:
+      if CS.out.cruiseState.enabled and frame % 10 == 0:
-        # Cancel Stock ACC if it's engaged with OP disengaged
+        # Cancel Stock ACC if it's enabled while OP is disengaged
         # Match stock message rate which is sent at 10hz
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
 

selfdrive/car/mazda/interface.py

@@ -89,7 +89,6 @@ class CarInterface(CarInterfaceBase):
     return self.CS.out
 
   def apply(self, c):
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators)
-                               c.cruiseControl.cancel)
     self.frame += 1
     return can_sends