pedal: only send command while actuators active (#22942)

old-commit-hash: 70c1f19304

selfdrive/car/honda/carcontroller.py

@@ -232,7 +232,7 @@ class CarController():
             # This prevents unexpected pedal range rescaling
             # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
             # when you do enable.
-            if enabled:
+            if active:
               apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
             else:
               apply_gas = 0.0

selfdrive/car/toyota/carcontroller.py

@@ -37,7 +37,7 @@ class CarController():
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
+  def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
              left_line, right_line, lead, left_lane_depart, right_lane_depart):
 
     # *** compute control surfaces ***
@@ -53,7 +53,7 @@ class CarController():
       elif CS.out.vEgo > MIN_ACC_SPEED + PEDAL_HYST_GAP:
         self.use_interceptor = False
 
-      if self.use_interceptor and enabled:
+      if self.use_interceptor and active:
         # only send negative accel when using interceptor. gas handles acceleration
         # +0.18 m/s^2 offset to reduce ABS pump usage when OP is engaged
         MAX_INTERCEPTOR_GAS = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED], [0.2, 0.5])

selfdrive/car/toyota/interface.py

@@ -375,7 +375,7 @@ class CarInterface(CarInterfaceBase):
   # to be called @ 100hz
   def apply(self, c):
 
-    can_sends = self.CC.update(c.enabled, self.CS, self.frame,
+    can_sends = self.CC.update(c.enabled, c.active, self.CS, self.frame,
                                c.actuators, c.cruiseControl.cancel,
                                c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
                                c.hudControl.rightLaneVisible, c.hudControl.leadVisible,