From 71e1149ee3170969d8a8ddaa4de00b5f4b6babed Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Sun, 7 Sep 2025 20:43:33 -0700 Subject: [PATCH] Update selfdrive/controls/lib/desire_helper.py Co-authored-by: Jason Wen --- selfdrive/controls/lib/desire_helper.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 7c02b83df3..23f0955133 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -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):