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Cancel lane change on blinker off

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old-commit-hash: 105b95ffd7
This commit is contained in:
Willem Melching
2020-02-06 13:48:20 -08:00
parent 5011fcce5c
commit 009fb04b5e
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/pathplanner.py
+1 -1
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@@ -98,7 +98,7 @@ class PathPlanner():
elif sm['carState'].rightBlinker:
self.lane_change_direction = LaneChangeDirection.right
if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker):
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
else: