From b80f2efdf29fb5095ea2fa258ec7695730467515 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 26 Oct 2022 14:53:01 -0700 Subject: [PATCH] No fcw when standstill (#26252) --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 018136e6f2..457065d3b5 100755 --- 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")