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force stop jerk scale .2

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whoisdomi
2026-08-25 20:55:11 -05:00
parent adfa7f7719
commit 385924356e
1 changed files with 4 additions and 3 deletions
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starpilot/controls/starpilot_planner.py
+4 -3
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@@ -31,9 +31,10 @@ 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 = 0.25 # 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 = 0.20 # accel-change cost multiplier for the whole stop approach,
# envelope included (125 -> 25). Lower = reaches the braking
# target sooner; it does not make the target deeper. Response
# is super-linear here, so raise it if onset feels like a step.
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.