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1 parent f6ec10f commit 3b04ccdCopy full SHA for 3b04ccd
control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -260,7 +260,7 @@ trajectory_follower::LateralOutput MpcLateralController::run(
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// the vehicle will return to the path by re-planning the trajectory or external operation.
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// After the recovery, the previous value of the optimization may deviate greatly from
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// the actual steer angle, and it may make the optimization result unstable.
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- if (!is_mpc_solved||!input_data.current_operation_mode.is_autoware_control_enabled) {
+ if (!is_mpc_solved||!is_under_control) {
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m_mpc->resetPrevResult(m_current_steering);
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} else {
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setSteeringToHistory(ctrl_cmd);
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