From 3c27a6a27313a6826ce2fefd3f8cb55906c57287 Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Sat, 2 May 2026 19:44:26 -0500 Subject: [PATCH] Fix Domi's rant --- starpilot/controls/lib/conditional_experimental_mode.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/starpilot/controls/lib/conditional_experimental_mode.py b/starpilot/controls/lib/conditional_experimental_mode.py index 849a11957..a05ce2583 100644 --- a/starpilot/controls/lib/conditional_experimental_mode.py +++ b/starpilot/controls/lib/conditional_experimental_mode.py @@ -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