revert changes to standstill logic

4 years ago · 59a00ce0b2
parent b9797259ed
commit 59a00ce0b2
1 changed files with 4 additions and 2 deletions
--- 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