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Fix Domi's rant

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whoisdomi
2026-05-02 19:44:26 -05:00
parent d4f73f56c4
commit 3c27a6a273
1 changed files with 3 additions and 2 deletions
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starpilot/controls/lib/conditional_experimental_mode.py
+3 -2
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@@ -147,6 +147,7 @@ class ConditionalExperimentalMode:
bool(getattr(sm["starpilotCarState"], "dashboardStopSign", 0) > 0)
)
force_stop_active = bool(getattr(self.starpilot_planner.starpilot_vcruise, "forcing_stop", False))
model_stopped = bool(getattr(self.starpilot_planner, "model_stopped", False))
pedal_override = bool(getattr(sm["carState"], "gasPressed", False) or getattr(sm["starpilotCarState"], "accelPressed", False))
if pedal_override or not bool(sm["carState"].standstill):
@@ -155,7 +156,7 @@ class ConditionalExperimentalMode:
if dash_stop_sign:
self.standstill_stop_reason = "sign"
elif self.stop_light_detected or force_stop_active:
elif self.stop_light_detected or force_stop_active or model_stopped:
if self.standstill_stop_reason is None:
self.standstill_stop_reason = "light"
elif self.standstill_stop_reason == "light":
@@ -164,7 +165,7 @@ class ConditionalExperimentalMode:
if self.standstill_stop_reason == "sign":
return True
return bool(self.stop_light_detected or force_stop_active)
return bool(self.stop_light_detected or force_stop_active or model_stopped)
def check_conditions(self, v_ego, sm, starpilot_toggles):
below_speed = starpilot_toggles.conditional_limit > v_ego >= 1 and not self.starpilot_planner.starpilot_following.following_lead