Keep steering on radar fault (commaai#442)

Author: vntarasov

selfdrive/controls/lib/planner.py

@@ -449,9 +449,9 @@ def update(self, CS, LaC, LoC, v_cruise_kph, force_slow_decel):
     if self.model_dead:
       events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if self.radar_dead or 'commIssue' in self.radar_errors:
-      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if 'fault' in self.radar_errors:
-      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if LaC.mpc_solution[0].cost > 10000. or LaC.mpc_nans:   # TODO: find a better way to detect when MPC did not converge
       events.append(create_event('plannerError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))