longcontrol: enter stopping state immediately (#26879)

* enter stopping state immediately * Update selfdrive/controls/lib/longcontrol.py
2 years ago · 4e9bddee5c
parent 9e364ff76f
commit 4e9bddee5c
1 changed files with 1 additions and 3 deletions
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@ -30,10 +30,8 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
    long_control_state = LongCtrlState.off

  else:
-    if long_control_state == LongCtrlState.off:
+    if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
      long_control_state = LongCtrlState.pid
-
-    elif long_control_state == LongCtrlState.pid:
      if stopping_condition:
        long_control_state = LongCtrlState.stopping