From 280192ed1443f112463417c2d815ea8ee2762fbd Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 24 Feb 2021 01:39:40 +0100
Subject: [PATCH] only allow INDI wind down on user override (#20080)

---
 selfdrive/controls/lib/latcontrol_indi.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index 59deb53950..ca0532e251 100644
--- 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)