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Force Stop 2.0

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Force Stop 2.0 — Smoother deceleration curve. On cars with the ADAS stop-sign signal, stops are even more confident; cars without dashboard stop sign signal will also benefit from a new deceleration curve and MPC handoff.

Toggle off = stock behavior.
This commit is contained in:
whoisdomi
2026-04-27 09:16:34 -05:00
committed by firestar5683
parent e24520254b
commit 40372c63ee
11 changed files with 131 additions and 8 deletions
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starpilot/ui/qt/offroad/longitudinal_settings.cc
+3
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@@ -157,6 +157,7 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
{"CustomCruise", tr("Cruise Interval"), tr("<b>How much the set speed increases or decreases</b> for each + or – cruise control button press."), ""},
{"CustomCruiseLong", tr("Cruise Interval (Hold)"), tr("<b>How much the set speed increases or decreases while holding the + or – cruise control buttons.</b>"), ""},
{"ForceStops", tr("Force Stop at \"Detected\" Stop Lights/Signs"), tr("<b>Force openpilot to stop whenever the driving model \"detects\" a red light or stop sign.</b><br><br><i><b>Disclaimer</b>: openpilot does not explicitly detect traffic lights or stop signs. In \"Experimental Mode\", openpilot makes end-to-end driving decisions from camera input, which means it may stop even when there's no clear reason!</i>"), ""},
{"ForceStopDistanceOffset", tr("Force Stop Distance Offset"), tr("<b>Tune where Force Stops bring the car to rest.</b> Positive values let the car roll further before stopping (longer stop, closer to the line). Negative values stop the car sooner (more buffer before the line)."), ""},
{"ForceStandstill", tr("Force Standstill State"), tr("<b>Keep openpilot in the standstill state until you press the gas pedal or the Resume/+ cruise button.</b><br><br>This applies to any engaged stop, not just red lights or stop signs."), ""},
{"IncreasedStoppedDistance", tr("Increase Stopped Distance by:"), tr("<b>Add extra space when stopped behind vehicles.</b> Increase for more room; decrease for shorter gaps."), ""},
{"MapGears", tr("Map Accel/Decel to Gears"), tr("<b>Map the Acceleration or Deceleration profiles to the vehicle's \"Eco\" and \"Sport\" gear modes.</b>"), ""},
@@ -393,6 +394,8 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
longitudinalToggle = new StarPilotParamValueControl(param, title, desc, icon, 1, 99, tr(" mph"));
} else if (param == "IncreasedStoppedDistance") {
longitudinalToggle = new StarPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet"));
} else if (param == "ForceStopDistanceOffset") {
longitudinalToggle = new StarPilotParamValueControl(param, title, desc, icon, -20, 20, tr(" feet"));
} else if (param == "MapGears") {
std::vector<QString> mapGearsToggles{"MapAcceleration", "MapDeceleration"};
std::vector<QString> mapGearsToggleNames{tr("Acceleration"), tr("Deceleration")};
starpilot/ui/qt/offroad/longitudinal_settings.h
+1 -1
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@@ -34,7 +34,7 @@ private:
QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "CoastUpToLeads", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune"};
QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "ForceStandstill", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset", "WeatherPresets"};
QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "ForceStopDistanceOffset", "ForceStandstill", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset", "WeatherPresets"};
QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};
QSet<QString> speedLimitControllerOffsetsKeys = {"Offset1", "Offset2", "Offset3", "Offset4", "Offset5", "Offset6", "Offset7"};