From 40a001a9f823f2ce450e5e4e592de86663c9e151 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 27 Jul 2024 00:26:21 -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 efeb76c4a8..f802a777b4 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -73,6 +73,9 @@ 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: