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force stop jerk scale .25

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whoisdomi
2026-08-25 08:19:35 -05:00
parent 2443c614a5
commit 2c8e454a8e
1 changed files with 3 additions and 1 deletions
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starpilot/controls/starpilot_planner.py
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@@ -31,7 +31,9 @@ from openpilot.starpilot.controls.lib.starpilot_vcruise import StarPilotVCruise
from openpilot.starpilot.controls.lib.weather_checker import WeatherChecker
RADARLESS_TRACK_HOLD_TIME = 0.45
FORCE_STOP_JERK_SCALE = 0.32 # accel-change cost multiplier while forcing_stop (125 -> ~40)
FORCE_STOP_JERK_SCALE = 0.25 # accel-change cost multiplier for the whole stop approach,
# envelope included (125 -> ~31). Lower = reaches the braking
# target sooner; it does not make the target deeper.
FORCE_STOP_JERK_SCALE_OVERRIDES = {
# The Elantra's current force-stop ramp is smooth, but it waits too long
# before building decel and then arrives at the initial brake too abruptly.