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Merge branch 'hkg-can-jerk' into master-dev-c3

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This commit is contained in:
Jason Wen
2024-08-12 14:48:09 -04:00
parent 3c56d25e28 f3834c56ca
commit cba4c552f3
1 changed files with 2 additions and 4 deletions
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selfdrive/controls/controlsd.py
+2 -4
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@@ -649,10 +649,8 @@ class Controls:
self.LoC.reset()
if not self.joystick_mode:
speeds = long_plan.speeds
resume = False
if len(speeds):
resume = self.enabled_long and CS.standstill and speeds[-1] > 0.1 and self.CP.carName == "hyundai"
a_lead = self.sm['radarState'].leadOne.aLeadK
resume = self.enabled_long and CS.standstill and a_lead > 0.1 and self.CP.carName == "hyundai"
# 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)