Force decel on soft disable (#1334)

5 years ago · 7643b0a511
parent 64f6e0c1d1
commit 7643b0a511
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -355,7 +355,7 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
    can_sends = CI.apply(CC)
    pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))

-  force_decel = sm['dMonitoringState'].awarenessStatus < 0.
+  force_decel = (sm['dMonitoringState'].awarenessStatus < 0.) or (state == State.softDisabling)

  # controlsState
  dat = messaging.new_message('controlsState')