From 768c98995266c31d36b7f36a045ffffc0dcf8e13 Mon Sep 17 00:00:00 2001 From: eFini Date: Tue, 13 Jun 2023 00:14:52 +0800 Subject: [PATCH] Fixed NO_IR_CTRL issue --- selfdrive/controls/controlsd.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index c5fa57713..14bbeea57 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -778,10 +778,7 @@ class Controls: else: self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2 - if NO_IR_CTRL: - self.sm['driverMonitoringState'].awarenessStatus = 1. - - force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ + force_decel = (not NO_IR_CTRL and self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ (self.state == State.softDisabling) # Curvature & Steering angle