reset ctrl_cmd_prev during manual mode

Signed-off-by: kyoichi-sugahara <[email protected]>
autowarefoundation · Mar 5, 2024 · 89b7b9c · 89b7b9c
1 parent 59f7031
commit 89b7b9c
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -243,7 +243,9 @@ trajectory_follower::LateralOutput MpcLateralController::run(
   Trajectory predicted_traj;
   Float32MultiArrayStamped debug_values;
 
-  if (!m_is_ctrl_cmd_prev_initialized) {
+  if (
+    !m_is_ctrl_cmd_prev_initialized ||
+    !input_data.current_operation_mode.is_autoware_control_enabled) {
     m_ctrl_cmd_prev = getInitialControlCommand();
     m_is_ctrl_cmd_prev_initialized = true;
   }