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fix(mpc_lateral_controller): reset ctrl_cmd_prev during manual mode #6541

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merged 2 commits into from
Mar 5, 2024
Merged

fix(mpc_lateral_controller): reset ctrl_cmd_prev during manual mode #6541

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89b7b9c
reset ctrl_cmd_prev during manual mode
kyoichi-sugahara Mar 4, 2024
0516f5a
fix manual driving condition
kyoichi-sugahara Mar 5, 2024
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6 changes: 5 additions & 1 deletion control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -243,7 +243,11 @@
Trajectory predicted_traj;
Float32MultiArrayStamped debug_values;

if (!m_is_ctrl_cmd_prev_initialized) {
const bool is_under_control = input_data.current_operation_mode.is_autoware_control_enabled &&
input_data.current_operation_mode.mode ==
autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS;

if (!m_is_ctrl_cmd_prev_initialized || !is_under_control) {

Check warning on line 250 in control/mpc_lateral_controller/src/mpc_lateral_controller.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

MpcLateralController::run increases in cyclomatic complexity from 10 to 12, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
m_ctrl_cmd_prev = getInitialControlCommand();
m_is_ctrl_cmd_prev_initialized = true;
}
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