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DEC: Use modelV2.navEnabled for navigation instruction checks

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Jason Wen
2024-02-17 20:55:31 +00:00
parent 45f21a844a
commit 5989674a11
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/dynamic_experimental_controller.py
+1 -1
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@@ -131,7 +131,7 @@ class DynamicExperimentalController:
self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB
# nav enable detection
self._has_nav_instruction = maneuver_distance / max(car_state.vEgo, 1) < 13
self._has_nav_instruction = md.navEnabled and maneuver_distance / max(car_state.vEgo, 1) < 13
# lead detection
self._lead_gmac.add_data(lead_one.status)