From 8892950697ad830306a0d5ce7256c5576a0b767c Mon Sep 17 00:00:00 2001
From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date: Sat, 18 Feb 2023 18:46:12 -0500
Subject: [PATCH] MADS: don't allow actuation if not calibrated (#37)

---
 selfdrive/controls/controlsd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index ae8c0aef19..b6fbfadcd0 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -617,7 +617,7 @@ class Controls:
     CC.latActive = (self.active or self.mads_ndlob) and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.joystick_mode) and CS.madsEnabled and (not CS.brakePressed or self.mads_ndlob) and \
                    (not CS.belowLaneChangeSpeed or (not (((self.sm.frame - self.last_blinker_frame) * DT_CTRL) < 1.0) and
-                   not (CS.leftBlinker or CS.rightBlinker))) and CS.latActive
+                   not (CS.leftBlinker or CS.rightBlinker))) and CS.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
     CC.longActive = self.enabled_long and not (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) and not self.events.any(ET.OVERRIDE_LONGITUDINAL)
 
     actuators = CC.actuators