Honorable. You might think "heroic", but you don't have to run into burning buildings to be honorable. Just be honest an mindful in your dealings with people. Selfish is the enemy and opposite of honorable.
Someone who's heart sets them on a course to do the right things, is honorable.
Nothing wrong with being a little inconvenienced in order to meet someone else's need. You're not going to die if you have to get out of your chair to help someone. It's the right thing to do to help others when you have the resources to do so.