Pause LaneCenter On Turn Signal

starpilot/common/safe_mode.py

@@ -36,6 +36,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "SteerRatio",
   "CameraOffset",
   "LaneCentering",
+  "LaneCenteringPauseOnSignal",
   "LaneCenteringE2EAuthority",
   "LaneCenterOffset",
   "LaneChanges",

starpilot/common/starpilot_variables.py

@@ -714,6 +714,9 @@ class StarPilotVariables:
 
     advanced_lateral_tuning = self.get_value("AdvancedLateralTune")
     toggle.lane_centering = self.get_value("LaneCentering")
+    toggle.lane_centering_pause_on_signal = self.get_value(
+      "LaneCenteringPauseOnSignal", condition=toggle.lane_centering, default=True,
+    )
     toggle.force_auto_tune = self.get_value("ForceAutoTune", condition=advanced_lateral_tuning and not has_auto_tune and is_torque_car and not is_angle_car)
     # Force-off is also meaningful on manually tuned torque cars: it locks the
     # vehicle-model parameters instead of allowing paramsd to learn over them.

starpilot/common/tests/test_lane_centering_galaxy.py

@@ -15,7 +15,7 @@ def _sections():
 
 def test_lane_centering_is_only_in_galaxy_developer_section():
   sections = _sections()
-  keys = {"LaneCentering", "LaneCenterOffset", "LaneCenteringE2EAuthority"}
+  keys = {"LaneCentering", "LaneCenterOffset", "LaneCenteringPauseOnSignal", "LaneCenteringE2EAuthority"}
 
   assert keys <= sections["Developer"].keys()
   for name, params in sections.items():
@@ -30,11 +30,15 @@ def test_lane_centering_galaxy_controls():
   developer = _sections()["Developer"]
   centering = developer["LaneCentering"]
   offset = developer["LaneCenterOffset"]
+  pause_on_signal = developer["LaneCenteringPauseOnSignal"]
   e2e_authority = developer["LaneCenteringE2EAuthority"]
 
   assert centering["ui_type"] == "toggle"
   assert centering["is_parent_toggle"] is True
 
+  assert pause_on_signal["ui_type"] == "toggle"
+  assert pause_on_signal["parent_key"] == "LaneCentering"
+
   assert offset["parent_key"] == "LaneCentering"
   assert offset["min"] == -0.3
   assert offset["max"] == 0.3

starpilot/common/tests/test_safe_mode_lane_centering.py

@@ -5,6 +5,7 @@ def test_safe_mode_manages_lane_centering_settings():
   assert {
     "CameraOffset",
     "LaneCentering",
+    "LaneCenteringPauseOnSignal",
     "LaneCenteringE2EAuthority",
     "LaneCenterOffset",
   } <= set(SAFE_MODE_MANAGED_KEYS)

starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json

@@ -4087,6 +4087,15 @@
         "parent_key": "LaneCentering",
         "settings_tier": "advanced"
       },
+      {
+        "key": "LaneCenteringPauseOnSignal",
+        "label": "Pause Lane Centering On Turn Signal",
+        "description": "Fade lane-centering correction out when a turn signal is active so it does not fight a lane change or turn.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "parent_key": "LaneCentering",
+        "settings_tier": "advanced"
+      },
       {
         "key": "LaneCenteringE2EAuthority",
         "label": "E2E Override Strength",

starpilot/system/the_galaxy/the_galaxy.py

@@ -966,6 +966,7 @@ _TROUBLESHOOT_ADVANCED_LATERAL_KEYS = [
   "ForceTorqueController",
   "CameraOffset",
   "LaneCentering",
+  "LaneCenteringPauseOnSignal",
   "LaneCenteringE2EAuthority",
   "LaneCenterOffset",
 ]