Ford: small cc clean up

opendbc/car/ford/carcontroller.py

@@ -102,31 +102,33 @@ def update(self, CC, CS, now_nanos):
       # Compensate for engine creep at low speed.
       # Either the ABS does not account for engine creep, or the correction is very slow
       # TODO: verify this applies to EV/hybrid
-      self.accel = actuators.accel
+      accel = actuators.accel
       if CC.longActive:
-        self.accel = apply_creep_compensation(self.accel, CS.out.vEgo)
-      self.accel = clip(self.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+        accel = apply_creep_compensation(accel, CS.out.vEgo)
+      accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
       # Both gas and accel are in m/s^2, accel is used solely for braking
-      self.gas = self.accel
-      if not CC.longActive or self.gas < CarControllerParams.MIN_GAS:
-        self.gas = CarControllerParams.INACTIVE_GAS
+      gas = accel
+      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
+        gas = CarControllerParams.INACTIVE_GAS
 
       # PCM applies pitch compensation to gas/accel, but we need to compensate for the brake/pre-charge bits
+      accel_due_to_pitch = 0.0
       if len(CC.orientationNED) == 3:
         accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
-      else:
-        accel_due_to_pitch = 0.0
 
-      accel_pitch_compensated = self.accel + accel_due_to_pitch
+      accel_pitch_compensated = accel + accel_due_to_pitch
       if accel_pitch_compensated > 0.3 or not CC.longActive:
         self.brake_request = False
       elif accel_pitch_compensated < 0.0:
         self.brake_request = True
 
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
       # TODO: look into using the actuators packet to send the desired speed
-      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, self.gas, self.accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
+
+      self.accel = accel
+      self.gas = gas
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)