chore(pid_longitudinal_controller): change the condition from emergen…

…cy to stopped Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Dec 16, 2023 · 1dd0347 · 1dd0347
1 parent 5895d73
commit 1dd0347
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -646,10 +646,11 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
 
   // in EMERGENCY state
   if (m_control_state == ControlState::EMERGENCY) {
+    if (stopped_condition) {
+      return changeState(ControlState::STOPPED);
+    }
+
     if (!emergency_condition) {
-      if (stopped_condition) {
-        return changeState(ControlState::STOPPED);
-      }
       if (!is_under_control) {
         // NOTE: On manual driving, no need stopping to exit the emergency.
         return changeState(ControlState::DRIVE);