From 08dfbe5c242e14c28419dbcce02e69c88393801d Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Tue, 12 Aug 2025 17:54:01 +0200 Subject: [PATCH] Update longcontrol.py revert special starting state logic --- selfdrive/controls/lib/longcontrol.py | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index d2a890341..6d4f92246 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -76,17 +76,8 @@ class LongControl: self.reset() elif self.long_control_state == LongCtrlState.starting: - if self.CP.useCarBrakeHoldState: - if CS.brakeHoldConfirmation: - output_accel = self.CP.startAccel - self.reset() - else: - error = a_target - CS.aEgo - output_accel = self.pid.update(error, speed=CS.vEgo, - feedforward=a_target) - else: - output_accel = self.CP.startAccel - self.reset() + output_accel = self.CP.startAccel + self.reset() else: # LongCtrlState.pid error = a_target - CS.aEgo