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1 parent 89b7b9c commit 0516f5aCopy full SHA for 0516f5a
control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -243,9 +243,11 @@ trajectory_follower::LateralOutput MpcLateralController::run(
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Trajectory predicted_traj;
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Float32MultiArrayStamped debug_values;
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- if (
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- !m_is_ctrl_cmd_prev_initialized ||
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- !input_data.current_operation_mode.is_autoware_control_enabled) {
+ const bool is_under_control = input_data.current_operation_mode.is_autoware_control_enabled &&
+ input_data.current_operation_mode.mode ==
+ autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS;
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+
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+ if (!m_is_ctrl_cmd_prev_initialized || !is_under_control) {
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m_ctrl_cmd_prev = getInitialControlCommand();
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m_is_ctrl_cmd_prev_initialized = true;
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}
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