diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp index 7eca1481ba921..445ecdb34d623 100644 --- 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; }