gate carOutput valid on carControl valid

1 year ago · f6608a49e8
parent ed59b180fe
commit f6608a49e8
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@ -123,7 +123,7 @@ class Car:

    # publish new carOutput
    co_send = messaging.new_message('carOutput')
-    co_send.valid = True
+    co_send.valid = self.sm.all_checks(['carControl'])
    if self.last_actuators is not None:
      co_send.carOutput.actuatorsOutput = self.last_actuators
    self.pm.send('carOutput', co_send)