Fix ability to change lane change direction while in progress (#20765)

selfdrive/controls/lib/lateral_planner.py

@@ -101,11 +101,6 @@ class LateralPlanner():
     one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    if sm['carState'].leftBlinker:
-      self.lane_change_direction = LaneChangeDirection.left
-    elif sm['carState'].rightBlinker:
-      self.lane_change_direction = LaneChangeDirection.right
-
     if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX):
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
@@ -122,6 +117,11 @@ class LateralPlanner():
       # State transitions
       # off
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
+        if sm['carState'].leftBlinker:
+          self.lane_change_direction = LaneChangeDirection.left
+        elif sm['carState'].rightBlinker:
+          self.lane_change_direction = LaneChangeDirection.right
+
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_ll_prob = 1.0