From edcf37b6fb1080f63d3dd1f0c865db6a5865cadb Mon Sep 17 00:00:00 2001
From: xinfengkun <xinfengkun@zhidaoauto.com>
Date: Thu, 16 Feb 2023 16:07:31 +0800
Subject: [PATCH] =?UTF-8?q?[2.14.0][adas=20lib]=E4=BF=AE=E5=A4=8D=E7=AC=AC?=
 =?UTF-8?q?=E4=BA=8C=E6=AC=A1=E5=90=AF=E5=8A=A8=E8=87=AA=E9=A9=BE=E8=B5=B7?=
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---
 .../support/adas/high/common/AutopilotAbilityManager.java     | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
index 0e9ebd13de..934654dd80 100644
--- a/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
+++ b/libraries/mogo-adas/src/main/java/com/zhidao/support/adas/high/common/AutopilotAbilityManager.java
@@ -146,7 +146,9 @@ public class AutopilotAbilityManager {
                     } else if (systemState == SystemStatusInfo.SystemState.SYS_FAULT) {
                         unableAutopilotReason = "系统异常";
                     } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_STARTING) {
-                        unableAutopilotReason = "正在开始自动驾驶";
+                        //如果第一次下发了启动自动驾驶，没起来或者存在干预 此时systemState是AUTO_PILOT_STARTING 需要二次下发启动自驾命令 所以需要排除此状态
+                        isAutopilotAbility = true;
+                        //unableAutopilotReason = "正在开始自动驾驶";
                     } else if (systemState == SystemStatusInfo.SystemState.AUTO_PILOT_RUNNING) {
                         unableAutopilotReason = "自动驾驶运行中";
                     } else if (systemState == SystemStatusInfo.SystemState.REMOTE_PILOT_STARTING) {