longcontrol: ignore cruise standstill if interceptor (#26597)

* ignore standstill * cmt * standstill * rm cmt * flip
2 years ago · a19b5b91d2
parent b15018387c
commit a19b5b91d2
1 changed files with 3 additions and 1 deletions
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@ -10,6 +10,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState

 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
                             v_target_1sec, brake_pressed, cruise_standstill):
+  # Ignore cruise standstill if car has a gas interceptor
+  cruise_standstill = cruise_standstill and not CP.enableGasInterceptor
  accelerating = v_target_1sec > v_target
  planned_stop = (v_target < CP.vEgoStopping and
                  v_target_1sec < CP.vEgoStopping and