Follow plan sooner after engaging

sshane / openpilot

DOES NOT SUPPORT COMMA 3X - Stock Additions (0.8.14): 3/automatic following distance profiles, customizable fork params with opEdit, and a smoother longitudinal experience for TSS2 Toyotas

MIT License

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Follow plan sooner after engaging #545

Closed sshane closed 2 years ago

sshane commented 2 years ago

This fixes:

No longer brakes under certain conditions for a second after engaging at low speeds if there's no lead
If you use the gas pedal to accelerate while engaged, the car now brakes much earlier (if you're above set speed or close to the lead). Previously the car would continue to accelerate for a second even if we're above the set speed or close to a car.