Merge branch 'master' into dev-priv/master

carleeno · Mar 25, 2023 · 944f066 · 944f066
2 parents 823cc11 + bb76d4f
commit 944f066
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -125,8 +125,9 @@ def update(self, sm):
       v_cruise = 0.0
 
     # Get acceleration and active solutions for custom long mpc.
-    self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(not reset_state, self.v_desired_filter.x,
-                                                                        self.a_desired, v_cruise, sm)
+    self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(
+      not reset_state and self.CP.openpilotLongitudinalControl, self.v_desired_filter.x,
+      self.a_desired, v_cruise, sm)
 
     # clip limits, cannot init MPC outside of bounds
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05, a_min_sol)