apply latcontrol_angle's active checking to all controllers

commaai · Nov 3, 2021 · d010789 · d010789
1 parent 21bcbc2
commit d010789
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -509,7 +509,7 @@ def state_control(self, CS):
         lac_log.saturated = abs(steer) >= 0.9
 
     # Send a "steering required alert" if saturation count has reached the limit
-    if (lac_log.saturated and not CS.steeringPressed):
+    if lac_log.active and lac_log.saturated and not CS.steeringPressed:
       if len(lat_plan.dPathPoints):
         # Check if we deviated from the path
         left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1