use the flag input_data.current_operation_mode.is_autoware_control_en…

…abled

Signed-off-by: Zhe Shen <[email protected]>

control/mpc_lateral_controller/src/mpc_lateral_controller.cpp

@@ -252,10 +252,6 @@ trajectory_follower::LateralOutput MpcLateralController::run(
     m_is_ctrl_cmd_prev_initialized = true;
   }
 
-  const bool is_driving_manually = input_data.current_operation_mode.mode == autoware_adapi_v1_msgs::msg::OperationModeState::LOCAL ||
-                                   input_data.current_operation_mode.mode == autoware_adapi_v1_msgs::msg::OperationModeState::REMOTE ||
-                                   input_data.current_operation_mode.mode == autoware_adapi_v1_msgs::msg::OperationModeState::STOP;
-
   const bool is_mpc_solved = m_mpc->calculateMPC(
     m_current_steering, m_current_kinematic_state, ctrl_cmd, predicted_traj, debug_values);
 
@@ -264,7 +260,7 @@ trajectory_follower::LateralOutput MpcLateralController::run(
   // the vehicle will return to the path by re-planning the trajectory or external operation.
   // After the recovery, the previous value of the optimization may deviate greatly from
   // the actual steer angle, and it may make the optimization result unstable.
-  if (!is_mpc_solved||is_driving_manually) {
+  if (!is_mpc_solved||!input_data.current_operation_mode.is_autoware_control_enabled) {
     m_mpc->resetPrevResult(m_current_steering);
   } else {
     setSteeringToHistory(ctrl_cmd);