No fcw when standstill (#26252)

3 years ago · b80f2efdf2
parent 9c92814585
commit b80f2efdf2
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -133,7 +133,7 @@ class LongitudinalPlanner:

    # TODO counter is only needed because radar is glitchy, remove once radar is gone
    # TODO write fcw in e2e_long mode
-    self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5
+    self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 and not sm['carState'].standstill
    if self.fcw:
      cloudlog.info("FCW triggered")