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only allow INDI wind down on user override (#20080)

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old-commit-hash: 280192ed1443f112463417c2d815ea8ee2762fbd
This commit is contained in:
Willem Melching
2021-02-24 01:39:40 +01:00
committed by GitHub
parent ee42cd87f6
commit ddc95515d0
1 changed files with 4 additions and 0 deletions
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selfdrive/controls/lib/latcontrol_indi.py
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@@ -115,6 +115,10 @@ class LatControlINDI():
g_inv = 1. / self.G
delta_u = g_inv * accel_error
# If steering pressed, only allow wind down
if CS.steeringPressed and (delta_u * self.output_steer > 0):
delta_u = 0
# Enforce rate limit
if self.enforce_rate_limit:
steer_max = float(CarControllerParams.STEER_MAX)