From 4ad537c6782b17cfc87ef12e21cd003daebababb Mon Sep 17 00:00:00 2001 From: MoreTore Date: Sun, 15 Jun 2025 10:24:02 -0500 Subject: [PATCH] update carcontroller.py --- selfdrive/car/mazda/carcontroller.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 27c288320..86cd39bcd 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -140,7 +140,8 @@ class CarController(CarControllerBase): """ if CS.out.standstill: # if we're stopped if not self.hold_delay.active(): # and we have been stopped for more than hold_delay duration. This prevents a hard brake if we aren't fully stopped. - if (CC.cruiseControl.resume or CC.cruiseControl.override or CS.out.gasPressed or + if ((CC.cruiseControl.resume and CC.actuators.longControlState != LongCtrlState.stopping) or + CC.cruiseControl.override or CS.out.gasPressed or (CC.actuators.longControlState == LongCtrlState.starting) or CS.acc["RESUME"]): # and we want to resume self.resume_timer.reset() # reset the resume timer so its active else: # otherwise we're holding