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Update cruiseState.standstill logic

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MoreTorque
2025-11-25 16:02:07 -06:00
committed by MoreTore
parent 1c9dc57f86
commit a6581539db
1 changed files with 1 additions and 1 deletions
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selfdrive/car/mazda/carstate.py
+1 -1
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@@ -213,7 +213,7 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] >= 3)
ret.cruiseState.available = (cp_body.vl["CRUZE_STATE"]["CRZ_STATE"] >= 2)
ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"]
ret.cruiseState.standstill = ret.standstill
ret.cruiseState.standstill = ret.standstill if not self.CP.openpilotLongitudinalControl else False
ret.steeringRateDeg = (ret.steeringAngleDeg - self._prev_steering_angle) / DT_CTRL
self._prev_steering_angle = ret.steeringAngleDeg