back

selfdrive/controls/controlsd.py

@@ -644,8 +644,12 @@ class Controls:
       self.LoC.reset()
 
     if not self.joystick_mode:
+      speeds = long_plan.speeds
       a_lead = self.sm['radarState'].leadOne.aLeadK
-      resume = self.enabled_long and CS.standstill and a_lead > 0.1 and self.CP.carName == "hyundai"
+      resume = self.enabled_long and CS.standstill and self.CP.carName == "hyundai"
+      if len(speeds):
+        resume = resume and speeds[-1] > 0.1
+      resume = resume and a_lead > 0.1
 
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)

selfdrive/controls/lib/drive_helpers.py

@@ -90,6 +90,7 @@ class VCruiseHelper:
 
   def update_v_cruise(self, CS, enabled, is_metric, reverse_acc, long_plan_sp):
     self.v_cruise_kph_last = self.v_cruise_kph
+    self.slc_state_prev = self.slc_state
     self.slc_state = long_plan_sp.speedLimitControlState
 
     if not self.CP.pcmCruiseSpeed:
@@ -220,8 +221,6 @@ class VCruiseHelper:
     if self.slc_state == SpeedLimitControlState.active and self.slc_state_prev == SpeedLimitControlState.preActive:
       self.v_cruise_kph = clip(round(self.slc_speed_limit_offsetted, 1), self.v_cruise_min, V_CRUISE_MAX)
 
-    self.slc_state_prev = self.slc_state
-
   def _update_v_cruise_min(self, is_metric):
     if is_metric != self.is_metric_prev:
       if self.CP.carName == "honda":