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Keep steering on radar fault (#442)

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old-commit-hash: e32463ee96d7fcdb2c278811fad5d24c0d5d7185
This commit is contained in:
Vasily Tarasov
2018-11-19 20:25:33 -08:00
committed by rbiasini
parent 4e8ae9e452
commit 52bb0281df
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/planner.py
+2 -2
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@@ -449,9 +449,9 @@ class Planner(object):
if self.model_dead:
events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.radar_dead or 'commIssue' in self.radar_errors:
events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if 'fault' in self.radar_errors:
events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if LaC.mpc_solution[0].cost > 10000. or LaC.mpc_nans: # TODO: find a better way to detect when MPC did not converge
events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))