only allow INDI wind down on user override (#20080)

old-commit-hash: 280192e
commaai · Feb 24, 2021 · ddc9551 · ddc9551
1 parent ee42cd8
commit ddc9551
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
@@ -115,6 +115,10 @@ def update(self, active, CS, CP, lat_plan):
       g_inv = 1. / self.G
       delta_u = g_inv * accel_error
 
+      # If steering pressed, only allow wind down
+      if CS.steeringPressed and (delta_u * self.output_steer > 0):
+        delta_u = 0
+
       # Enforce rate limit
       if self.enforce_rate_limit:
         steer_max = float(CarControllerParams.STEER_MAX)