From 364184ab4c3010b60fd7ab23037c7577df9e76e8 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Sat, 2 Oct 2021 15:42:22 +0200
Subject: [PATCH] Revert "revert changes to standstill logic"

This reverts commit d737d858e7708aedaf09cfc068b85398161e9bbe.
---
 selfdrive/car/honda/carcontroller.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index eeb0aca34f..11d6d69c89 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -162,10 +162,8 @@ class CarController():
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
       lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
 
-    # stopping = actuators.longControlState == LongCtrlState.stopping
-    # starting = actuators.longControlState == LongCtrlState.starting
-    stopping = accel < 0 and CS.out.vEgo < 0.3
-    starting = accel > 0 and CS.out.vEgo < 0.3
+    stopping = actuators.longControlState == LongCtrlState.stopping
+    starting = actuators.longControlState == LongCtrlState.starting
 
     # Prevent rolling backwards
     accel = -4.0 if stopping else accel