only allow INDI wind down on user override (#20080)

4 years ago · 280192ed14
parent f830ac646b
commit 280192ed14
1 changed files with 4 additions and 0 deletions
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@ -115,6 +115,10 @@ class LatControlINDI():
      g_inv = 1. / self.G
      delta_u = g_inv * accel_error

+      # If steering pressed, only allow wind down
+      if CS.steeringPressed and (delta_u * self.output_steer > 0):
+        delta_u = 0
+
      # Enforce rate limit
      if self.enforce_rate_limit:
        steer_max = float(CarControllerParams.STEER_MAX)