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Update selfdrive/controls/lib/desire_helper.py

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Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
James Vecellio-Grant
2025-09-07 20:43:33 -07:00
committed by GitHub
parent b63d0a1d18
commit 71e1149ee3
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/desire_helper.py
+2 -2
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@@ -109,14 +109,14 @@ class DesireHelper:
self.prev_one_blinker = one_blinker
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
# Lane turn controller update
turn_desire = self.lane_turn_controller.update(carstate.leftBlindspot, carstate.rightBlindspot, carstate.leftBlinker, carstate.rightBlinker,
carstate.vEgo, carstate.steeringPressed, carstate.steeringTorque)
self.lane_turn_direction = self.lane_turn_controller.get_lane_turn_direction()
if turn_desire != log.Desire.none:
self.desire = turn_desire
else:
self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
# Send keep pulse once per second during LaneChangeStart.preLaneChange
if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting):