From 59a00ce0b2c15db4deeda3995836c24eac16b4b9 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sat, 2 Oct 2021 13:54:58 +0200 Subject: [PATCH] revert changes to standstill logic --- selfdrive/car/honda/carcontroller.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 11d6d69c89..eeb0aca34f 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -162,8 +162,10 @@ 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 = 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 # Prevent rolling backwards accel = -4.0 if stopping else accel