From f5f6a06913bd57afbc751730780a6491fa31fbaf Mon Sep 17 00:00:00 2001
From: Irene <12470297+cydia2020@users.noreply.github.com>
Date: Tue, 12 Mar 2024 13:44:53 +1100
Subject: [PATCH] Revert "dont compensate when stopped"

This reverts commit 983fc8f34908dd530543415acc4abc960ade82ef.
---
 selfdrive/car/toyota/carcontroller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 7667ae496a7f83..7ec5dfcd38f565 100644
--- 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 actuators.accel < 1e-3 or stopping) or CS.out.vEgo < 1e-3:
+    if self.CP.carFingerprint in NO_STOP_TIMER_CAR and ((CS.out.vEgo <  1e-3 and actuators.accel < 1e-3) or stopping):
       should_compensate = False
     # pcm neutral force
     if CC.longActive and should_compensate and not self.prohibit_neg_calculation: