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No actuation while in pre-enabled state (#23658)

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* No actuation while in pre-enabled state

* update refs
This commit is contained in:
Adeeb Shihadeh
2022-01-28 16:03:44 -08:00
committed by GitHub
parent 8eb6a6a535
commit 72e00a0768
13 changed files with 22 additions and 24 deletions
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selfdrive/car/mazda/carcontroller.py
+1 -1
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@@ -19,7 +19,7 @@ class CarController():
apply_steer = 0
self.steer_rate_limited = False
if c.enabled:
if c.active:
# calculate steer and also set limits due to driver torque
new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,