MADS: initialize set speed when in override state (#56)

2026-07-14 00:22:08 +08:00 · 2023-03-21 14:52:08 -04:00
parent d0e21fc6c8
commit b1efbc48b2
1 changed files with 2 additions and 0 deletions
@@ -567,6 +567,8 @@ class Controls:
            self.state = State.enabled
          else:
            self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
+          if CS.cruiseState.enabled and not self.CS_prev.cruiseState.enabled:
+            self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)

    # DISABLED
    elif self.state == State.disabled: