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Revert "Model Stop Hysteresis"

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This reverts commit 5137636387.
This commit is contained in:
whoisdomi
2026-07-23 21:02:30 -05:00
parent a8ca1b1552
commit 18aa69241e
1 changed files with 2 additions and 15 deletions
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starpilot/controls/lib/starpilot_vcruise.py
+2 -15
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@@ -38,7 +38,6 @@ NAV_TURN_TARGET_SPEEDS = {
FORCE_STOP_MODEL_APPROACH_DECEL = 0.65
FORCE_STOP_DASH_APPROACH_DECEL = 1.0
ACTIVATION_M = 75.0 # m — CEM/model path activates when model_length < this
ACTIVATION_HYSTERESIS_M = 8.0 # m — release margin; absorbs model_length jitter at the gate
MPC_HANDOFF_M = 6.0 # m — below this, command 0 and let MPC finish the stop
ADAS_MAX_MS = 17.88 # 40 mph — cross-street ADAS guard
DASH_SEED_M = 27.0 # ~88 ft — typical ADAS detection distance, used to snap
@@ -137,7 +136,6 @@ class StarPilotVCruise:
self.override_force_stop_timer = 0
self.force_stop_timer = 0.0
self.activation_gate_active = False
self.standstill_force_stop_hold = False
self.standstill_force_stop_clear_since = 0.0
self.standstill_force_stop_started_at = None
@@ -309,20 +307,9 @@ class StarPilotVCruise:
# Exclude when a lead is present (raw or filtered) — the handoff_to_stopped_lead path
# in CEM can set stop_light_detected even with a lead present, which would incorrectly
# activate Force Stop and stop the car far behind the lead instead of letting ACC handle it.
#
# Schmitt trigger: model_length can jitter several meters around ACTIVATION_M, which
# otherwise keeps resetting force_stop_timer's ramp. Scoped to a detected stop so the
# wider release threshold can't leak into ordinary slow driving.
stop_light_detected = self.starpilot_planner.starpilot_cem.stop_light_detected
if self.activation_gate_active and stop_light_detected:
model_length_active = self.starpilot_planner.model_length < ACTIVATION_M + ACTIVATION_HYSTERESIS_M
else:
model_length_active = self.starpilot_planner.model_length < ACTIVATION_M
self.activation_gate_active = model_length_active and stop_light_detected
cem_path = (stop_light_detected
cem_path = (self.starpilot_planner.starpilot_cem.stop_light_detected
and controls_enabled and starpilot_toggles.force_stops
and model_length_active
and self.starpilot_planner.model_length < ACTIVATION_M
and self.override_force_stop_timer <= 0
and not self.starpilot_planner.driving_in_curve
and not curved_approach_scene