From e32463ee96d7fcdb2c278811fad5d24c0d5d7185 Mon Sep 17 00:00:00 2001 From: Vasily Tarasov Date: Mon, 19 Nov 2018 20:25:33 -0800 Subject: [PATCH] Keep steering on radar fault (#442) --- selfdrive/controls/lib/planner.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py index 89ca649504..33cb4f56f0 100755 --- a/selfdrive/controls/lib/planner.py +++ b/selfdrive/controls/lib/planner.py @@ -449,9 +449,9 @@ class Planner(object): if self.model_dead: events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) if self.radar_dead or 'commIssue' in self.radar_errors: - events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) + events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if 'fault' in self.radar_errors: - events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) + events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if LaC.mpc_solution[0].cost > 10000. or LaC.mpc_nans: # TODO: find a better way to detect when MPC did not converge events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))