dont compensate when stopped

cydia2020 · Jan 25, 2024 · 983fc8f · 983fc8f
1 parent f025b7c
commit 983fc8f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
@@ -81,7 +81,7 @@ def update(self, CC, CS):
       self.prohibit_neg_calculation = False
     # NO_STOP_TIMER_CAR will creep if compensation is applied when stopping or stopped, don't compensate when stopped or stopping
     should_compensate = True
-    if self.CP.carFingerprint in NO_STOP_TIMER_CAR and ((CS.out.vEgo <  1e-3 and actuators.accel < 1e-3) or stopping):
+    if (self.CP.carFingerprint in NO_STOP_TIMER_CAR and actuators.accel < 1e-3 or stopping) or CS.out.vEgo < 1e-3:
       should_compensate = False
     # pcm neutral force
     if CC.longActive and should_compensate and not self.prohibit_neg_calculation: