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fix stop state

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MoreTore
2025-05-21 10:29:02 -05:00
parent 79a43e3ec1
commit d75bc1e02b
1 changed files with 3 additions and 2 deletions
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selfdrive/car/mazda/carcontroller.py
+3 -2
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@@ -144,8 +144,9 @@ 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
(CC.actuators.longControlState == LongCtrlState.starting) or CS.acc["RESUME"]): # and we want to resume
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"]): # if we are resuming or overriding, we want to release the brake
self.resume_timer.reset() # reset the resume timer so its active
else: # otherwise we're holding
hold = self.hold_timer.active() # hold for 6s. This allows the electric brake to hold the car.