VW PQ: bugfix ECD

* fix creep issue leading to ECM state mismatch
dkiiv · Nov 3, 2024 · aee7977 · aee7977
1 parent a2c0132
commit aee7977
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
@@ -163,7 +163,7 @@ def update(self, CC, CS, now_nanos):
           self.EPB_brake = clip(actuators.accel, self.CCP.ACCEL_MIN, 0)
       else:
         accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
-        acc_control = 0 if self.EPB_enable and CC.longActive and CS.out.vEgo <= 0.5 else acc_control
+        acc_control = 0 if CC.longActive and (self.EPB_enable or CS.out.vEgo <= 0.5) else acc_control
         self.EPB_enable = 0
         self.EPB_brake = 0
       self.long_deviation = 0  # TODO: make dynamic again