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lane change fix 3

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whoisdomi
2026-04-23 16:19:18 -05:00
committed by firestar5683
parent d6e4d3bb05
commit 0f65be4a06
1 changed files with 1 additions and 3 deletions
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starpilot/common/starpilot_variables.py
+1 -3
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@@ -812,9 +812,7 @@ class StarPilotVariables:
# Lane change pace: 1 = smoothest (~8 s target), 10 = stock (no clamp applied)
# Factors are derived from a sinusoidal lane-change profile: a = pi^2 * W / T^2, j = pi^3 * W / T^3.
# 1.3x headroom keeps the controller off the ceiling mid-maneuver.
pace = self.get_value("LaneChangeSmoothing", cast=int, condition=toggle.lane_changes)
if pace == 0:
pace = 10
pace = self.get_value("LaneChangeSmoothing", cast=int, condition=toggle.lane_changes) or 10
pace = max(1, min(10, pace))
lane_w = 3.5
t_target = 3.0 + (10 - pace) * 5.0 / 9.0