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Update longcontrol.py

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This commit is contained in:
Kumar
2026-09-15 15:39:32 -07:00
committed by rav4kumar
parent ef938df670
commit 88418aa418
1 changed files with 2 additions and 1 deletions
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openpilot/selfdrive/controls/lib/longcontrol.py
+2 -1
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@@ -40,6 +40,7 @@ def long_control_state_trans(CP_SP, active, long_control_state,
return long_control_state
class LongControl(LongControlSP):
def __init__(self, CP, CP_SP):
self.CP = CP
@@ -66,7 +67,7 @@ class LongControl(LongControlSP):
elif self.long_control_state == LongCtrlState.stopping:
output_accel = self.last_output_accel
if output_accel > self.CP.stopAccel and not LongControlSP.should_hold_stopping(self, CS, a_target):
if output_accel > self.CP.stopAccel:
output_accel = min(output_accel, 0.0)
# TODO: can we just go straight to stopAccel?
output_accel -= self.stopping_decel_rate(CS.vEgo) * DT_CTRL