From 2c8e454a8e4856724c8718f313c3d8df0353e1af Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Tue, 25 Aug 2026 08:19:35 -0500 Subject: [PATCH] force stop jerk scale .25 --- starpilot/controls/starpilot_planner.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/starpilot/controls/starpilot_planner.py b/starpilot/controls/starpilot_planner.py index e67d88227..35d616474 100644 --- a/starpilot/controls/starpilot_planner.py +++ b/starpilot/controls/starpilot_planner.py @@ -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.