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Force decel on soft disable (#1334)

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Willem Melching 2020-04-08 14:59:17 -07:00 committed by GitHub
parent 64f6e0c1d1
commit 7643b0a511
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selfdrive/controls/controlsd.py
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@ -355,7 +355,7 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
can_sends = CI.apply(CC)
pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
force_decel = sm['dMonitoringState'].awarenessStatus < 0.
force_decel = (sm['dMonitoringState'].awarenessStatus < 0.) or (state == State.softDisabling)
# controlsState
dat = messaging.new_message('controlsState')