From 951ceecadd555abac3eea67fe655ddc33dc48b1f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 15 Dec 2022 10:38:44 -0800
Subject: [PATCH] navd: avoid re-routing back to past waypoints

---
 selfdrive/navd/navd.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 277b84b927..f2de9261ab 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -191,6 +191,10 @@ class RouteEngine:
         cloudlog.warning("Got empty route response")
         self.clear_route()
 
+      # clear waypoints to avoid a re-route including past waypoints
+      # TODO: only clear once we're past a waypoint
+      self.params.remove('NavDestinationWaypoints')
+
     except requests.exceptions.RequestException:
       cloudlog.exception("failed to get route")
       self.clear_route()