From a8396f6a120a8e8c56ab360c6efe2ec0dfe1f779 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 20 Jul 2023 20:40:01 -0700 Subject: [PATCH] Nav: Reset backoff on route clearing (#29067) * nav backoff reset * need to reset countdown as well --------- Co-authored-by: Shane Smiskol --- selfdrive/navd/navd.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 7af911ab2a..29a390bad3 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -102,6 +102,7 @@ class RouteEngine: new_destination = coordinate_from_param("NavDestination", self.params) if new_destination is None: self.clear_route() + self.reset_recompute_limits() return should_recompute = self.should_recompute() @@ -265,8 +266,7 @@ class RouteEngine: if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD: if self.step_idx + 1 < len(self.route): self.step_idx += 1 - self.recompute_backoff = 0 - self.recompute_countdown = 0 + self.reset_recompute_limits() else: cloudlog.warning("Destination reached") Params().remove("NavDestination") @@ -293,6 +293,10 @@ class RouteEngine: self.step_idx = None self.nav_destination = None + def reset_recompute_limits(self): + self.recompute_backoff = 0 + self.recompute_countdown = 0 + def should_recompute(self): if self.step_idx is None or self.route is None: return True