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handle stopAccel = 0

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This commit is contained in:
Jason Wen
2024-07-27 00:25:37 -04:00
parent 796e6ae924
commit 348cd735f2
1 changed files with 3 additions and 0 deletions
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selfdrive/controls/lib/longcontrol.py
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@@ -71,6 +71,9 @@ class LongControl:
if output_accel > self.CP.stopAccel:
output_accel = min(output_accel, 0.0)
output_accel -= self.CP.stoppingDecelRate * DT_CTRL
elif output_accel < self.CP.stopAccel:
output_accel = min(output_accel, 0.0)
output_accel += self.CP.stoppingDecelRate * DT_CTRL
self.reset()
elif self.long_control_state == LongCtrlState.starting: