Update longcontrol.py use brake hold mechanics for start accel

2026-09-08 17:23:43 +08:00 · 2025-08-01 17:31:02 +02:00
parent c1a4885f34
commit 7159090fc6
1 changed files with 11 additions and 2 deletions
@@ -76,8 +76,17 @@ class LongControl:
      self.reset()

    elif self.long_control_state == LongCtrlState.starting:
-      output_accel = self.CP.startAccel
-      self.reset()
+      if self.CP.useCarBrakeHoldState:
+        if CS.brakeHoldActive:
+          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()

    else:  # LongCtrlState.pid
      error = a_target - CS.aEgo