From a19b5b91d2bcc0cd405599193828b9e9e187c52e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Nov 2022 19:17:36 -0700 Subject: [PATCH] longcontrol: ignore cruise standstill if interceptor (#26597) * ignore standstill * cmt * standstill * rm cmt * flip --- selfdrive/controls/lib/longcontrol.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 92a4f1f99..545a4c43f 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -10,12 +10,14 @@ LongCtrlState = car.CarControl.Actuators.LongControlState def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, v_target_1sec, brake_pressed, cruise_standstill): + # Ignore cruise standstill if car has a gas interceptor + cruise_standstill = cruise_standstill and not CP.enableGasInterceptor accelerating = v_target_1sec > v_target planned_stop = (v_target < CP.vEgoStopping and v_target_1sec < CP.vEgoStopping and not accelerating) stay_stopped = (v_ego < CP.vEgoStopping and - (brake_pressed or cruise_standstill)) + (brake_pressed or cruise_standstill)) stopping_condition = planned_stop or stay_stopped starting_condition = (v_target_1sec > CP.vEgoStarting and