From 348cd735f2ab0f0effbdc0b892c974535a054323 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 27 Jul 2024 00:25:37 -0400 Subject: [PATCH] handle stopAccel = 0 --- selfdrive/controls/lib/longcontrol.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index a661c33361..da2f0e302b 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -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: