don't send current angle when not active

board/safety/safety_ford.h

@@ -189,13 +189,6 @@ static int ford_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
     }
     desired_angle_last = desired_angle;
 
-    // TODO: this is broken because we can't send the current angle most of the time -
-    // the signal only supports angles in range [-0.5, 0.5] radians
-    // // Angle should be the same as current angle while not steering
-    // if (!controls_allowed && ((desired_angle < (angle_meas.min - 1)) || (desired_angle > (angle_meas.max + 1)))) {
-    //   tx = 0;
-    // }
-
     // No steer control allowed when controls are not allowed
     if (!controls_allowed && steer_control_enabled) {
       tx = 0;

tests/safety/test_ford.py

@@ -48,7 +48,7 @@ def setUp(self):
     raise unittest.SkipTest
 
   # Driver brake pedal
-  def _brake_msg(self, brake):
+  def _user_brake_msg(self, brake):
     # brake pedal and cruise state share same message, so we have to send
     # the other signal too (use prev value)
     enable = self.safety.get_controls_allowed()
@@ -64,7 +64,7 @@ def _speed_msg(self, speed):
     return self.packer.make_can_msg_panda("EngVehicleSpThrottle2", 0, values)
 
   # Drive throttle input
-  def _gas_msg(self, gas):
+  def _user_gas_msg(self, gas):
     values = {"ApedPos_Pc_ActlArb": gas}
     return self.packer.make_can_msg_panda("EngVehicleSpThrottle", 0, values)
 
@@ -159,11 +159,6 @@ def test_angle_cmd_when_enabled(self):
         # Down
         self.assertEqual(False, self._tx(self._lkas_control_msg(a - sign(a) * (max_delta_down + 1.1), 1)))
 
-        # TODO: ford safety doesn't check for this yet
-        # # Check desired steer should be the same as steer angle when controls are off
-        # self.safety.set_controls_allowed(0)
-        # self.assertEqual(True, self._tx(self._lkas_control_msg(a, 0)))
-
   def test_steer_when_disabled(self):
     self.safety.set_controls_allowed(0)