From adaede6b372bc81383ab518e39eb5727bf6a2435 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 8 Apr 2020 14:59:17 -0700 Subject: [PATCH] Force decel on soft disable (#1334) old-commit-hash: 7643b0a51100ab4318dc687545fbc120677ba9b8 --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 9cde1928a8..9bb258e742 100755 --- 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')