From 385924356e1736a8ca9b282182ab9125b1c2e233 Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Tue, 25 Aug 2026 20:55:11 -0500 Subject: [PATCH] force stop jerk scale .2 --- starpilot/controls/starpilot_planner.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/starpilot/controls/starpilot_planner.py b/starpilot/controls/starpilot_planner.py index 35d616474d..0366862adf 100644 --- a/starpilot/controls/starpilot_planner.py +++ b/starpilot/controls/starpilot_planner.py @@ -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.