From 88418aa418011d7ffebb76b8ed13454d3842e0f6 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Tue, 15 Sep 2026 15:39:32 -0700
Subject: [PATCH] Update longcontrol.py

---
 openpilot/selfdrive/controls/lib/longcontrol.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/openpilot/selfdrive/controls/lib/longcontrol.py b/openpilot/selfdrive/controls/lib/longcontrol.py
index 99e0cf7e45..7b058fa178 100644
--- a/openpilot/selfdrive/controls/lib/longcontrol.py
+++ b/openpilot/selfdrive/controls/lib/longcontrol.py
@@ -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