Hopefully fix the ebrake bug

Autonomous-Vehicles · Mar 13, 2023 · 8b3043e7e966e5b340aabb9ccc72de2b4659fc3b · 8b3043e
1 parent e63bb80
commit 8b3043e7e966e5b340aabb9ccc72de2b4659fc3b
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diff --git a/src/control/status_control_frame.cpp b/src/control/status_control_frame.cpp
@@ -104,8 +104,6 @@ void adas_api::StatusControlFrame::set_drive( const bool drive )
 void adas_api::StatusControlFrame::set_estop( const bool estop )
 {
     this->_estop = estop;
-    if( this->_estop )
-        this->_drive = false;
 }
 
 void adas_api::StatusControlFrame::_print( std::ostream& os ) const

diff --git a/src/simple_adas.cpp b/src/simple_adas.cpp
@@ -181,7 +181,6 @@ void adas_api::SimpleAdas::write()
             if( this->statusControl.get_mission_status() != StatusControlFrame::MissionStatus::FINISHED )
                 this->statusControl.set_mission_status( StatusControlFrame::MissionStatus::SELECTED );
             this->statusControl.set_drive( true );
-
             this->statusControl.set_estop( false );
             break;
         case StatusFrame::AsState::FINISHED:
@@ -204,8 +203,6 @@ void adas_api::SimpleAdas::write()
             break;
     }
 
-    std::cout << "AMI state: " << this->status().ami_state() << std::endl;
-
     Adas::write();
 }