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don't reset if gas pressed

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This commit is contained in:
Jason Wen
2025-06-05 02:25:44 -04:00
parent 5d705d3f6d
commit 0306ba701b
1 changed files with 1 additions and 3 deletions
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sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py
+1 -3
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@@ -37,7 +37,6 @@ class SpeedLimitController:
self._last_op_engaged_time = 0.0
self._is_metric = self._params.get_bool("IsMetric")
self._is_enabled = self._params.get_bool("SpeedLimitControl")
self._disengage_on_accelerator = self._params.get_bool("DisengageOnAccelerator")
self._op_engaged = False
self._op_engaged_prev = False
self._v_ego = 0.
@@ -276,8 +275,7 @@ class SpeedLimitController:
# In any case, if op is disabled, or speed limit control is disabled
# or the reported speed limit is 0 or gas is pressed, deactivate.
if not self._op_engaged or not self._is_enabled or self._speed_limit == 0 or \
(self._gas_pressed and self._disengage_on_accelerator):
if not self._op_engaged or not self._is_enabled or self._speed_limit == 0:
self.state = SpeedLimitControlState.inactive
return