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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

fix manual driving condition

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Merged

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

fix manual driving condition
0516f5a
Select commit
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Failed to load commit list.
CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main) failed Mar 5, 2024 in 42s

CodeScene PR Check

❌ Code Health Quality Gates: FAILED

  • Declining Code Health: 1 findings(s) 🚩
  • Improving Code Health: 0 findings(s) ✅
  • Affected Hotspots: 0 files(s) 🔥

Recommended Review Level: Detailed -- Inspect the code that degrades in code health.
View detailed results in CodeScene

Details

🚩 Declining Code Health (highest to lowest):

  • Complex Method mpc_lateral_controller.cpp: MpcLateralController::run

Annotations

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

See this annotation in the file changed.

@codescene-delta-analysis 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.
View more details on CodeScene Delta Analysis