Keep steering on radar fault (#442)

7 years ago · e32463ee96
parent 53c6ca6589
commit e32463ee96
1 changed files with 2 additions and 2 deletions
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@ -449,9 +449,9 @@ class Planner(object):
    if self.model_dead:
      events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
    if self.radar_dead or 'commIssue' in self.radar_errors:
-      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
    if 'fault' in self.radar_errors:
-      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
    if LaC.mpc_solution[0].cost > 10000. or LaC.mpc_nans:   # TODO: find a better way to detect when MPC did not converge
      events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))