From 4e9bddee5cbabe4807e690a93408a23ce66225d5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Jan 2023 13:02:43 -0800 Subject: [PATCH] longcontrol: enter stopping state immediately (#26879) * enter stopping state immediately * Update selfdrive/controls/lib/longcontrol.py --- selfdrive/controls/lib/longcontrol.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 545a4c43ff..e8095813f2 100644 --- 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