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No fcw when standstill (#26252)

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HaraldSchafer
2022-10-26 14:53:01 -07:00
committed by GitHub
parent 9c92814585
commit b80f2efdf2
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/longitudinal_planner.py
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@@ -133,7 +133,7 @@ class LongitudinalPlanner:
# TODO counter is only needed because radar is glitchy, remove once radar is gone
# TODO write fcw in e2e_long mode
self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5
self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 and not sm['carState'].standstill
if self.fcw:
cloudlog.info("FCW triggered")