From 009fb04b5e7efbe57410f3cf3caef8df3f5b1a65 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Thu, 6 Feb 2020 13:48:20 -0800
Subject: [PATCH] Cancel lane change on blinker off

old-commit-hash: 105b95ffd712e462149ab1df2de8b3f1d2307850
---
 selfdrive/controls/lib/pathplanner.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 5759ee55f7..43ba9bce41 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -98,7 +98,7 @@ class PathPlanner():
     elif sm['carState'].rightBlinker:
       self.lane_change_direction = LaneChangeDirection.right
 
-    if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker):
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else: