From 4532320fb3b76417df39c6b78a84f250da9a31ba Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Wed, 1 Jul 2026 18:52:11 -0700 Subject: [PATCH] desire: enter preLaneChange if blinker before engaged (#38276) --- openpilot/selfdrive/controls/lib/desire_helper.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openpilot/selfdrive/controls/lib/desire_helper.py b/openpilot/selfdrive/controls/lib/desire_helper.py index cbf4d95d3..3705823b7 100644 --- a/openpilot/selfdrive/controls/lib/desire_helper.py +++ b/openpilot/selfdrive/controls/lib/desire_helper.py @@ -68,7 +68,7 @@ class DesireHelper: self.lane_change_state = LaneChangeState.off self.lane_change_direction = LaneChangeDirection.none - self.prev_one_blinker = one_blinker + self.prev_one_blinker = one_blinker and lateral_active self.desire = log.Desire.none if self.lane_change_state == LaneChangeState.laneChangeStarting: