navd: fix hysteresis when reaching destination (#29032)

fix destination hysteresis when reaching destination
2 years ago · 431a2542c9
parent 412ed6a017
commit 431a2542c9
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@ -274,11 +274,11 @@ class RouteEngine:
        self.reset_recompute_limits()
      else:
        cloudlog.warning("Destination reached")
-        Params().remove("NavDestination")

        # Clear route if driving away from destination
        dist = self.nav_destination.distance_to(self.last_position)
        if dist > REROUTE_DISTANCE:
+          self.params.remove("NavDestination")
          self.clear_route()

  def send_route(self):