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Bug Fix: Blinker disregards force stop

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Prior commit inteneded for blinker to veto force stop from activating during a turn/curves.
If blinker was on, it was vetoing actual force stops. This tweaks is so the veto only works
on actual turns, or if force stop was already on. So force stop will stop, then allow turn without reactivating force stop.
This commit is contained in:
whoisdomi
2026-06-26 06:10:13 -05:00
parent 24fc6fe4e5
commit 4ce9be2752
1 changed files with 11 additions and 4 deletions
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starpilot/controls/lib/starpilot_vcruise.py
+11 -4
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@@ -43,7 +43,11 @@ DASH_SEED_M = 27.0 # ~88 ft — typical ADAS detection distance, used to
# tracked length closer when dashboard confirms a sign
FT_TO_M = 0.3048
FORCE_STOP_TURN_VETO_MAX_SPEED = 18.0 * CV.MPH_TO_MS
FORCE_STOP_TURN_VETO_STEERING_ANGLE = 12.0
# Real-turn steering angle. A stop-then-turn is still ~straight on approach, so a low
# threshold caused legit stops to be skipped when the blinker came on early. Only suppress
# Force Stop once the wheel is actually wound into the turn (turn instead of stop), and only
# for *new* activation — an in-progress stop is carried through (see force_stop_timer logic).
FORCE_STOP_TURN_VETO_STEERING_ANGLE = 25.0
FORCE_STOP_CURVE_VETO_MAX_ROAD_CURVATURE = 0.003
# Knob bounds (mirror of UI slider; defense in depth)
@@ -352,7 +356,9 @@ class StarPilotVCruise:
if force_stop_active and not sm["carState"].standstill:
rate = DT_MDL * 2 if dash_active else DT_MDL
self.force_stop_timer = min(self.force_stop_timer + rate, 2.0)
elif turn_scene_active and not sm["carState"].standstill:
elif turn_scene_active and not self.forcing_stop and not sm["carState"].standstill:
# Suppress only a *new* stop while turning. If we're already forcing a stop
# (stop-then-turn), carry it through to the stop line instead of releasing here.
self.force_stop_timer = 0.0
elif self.standstill_force_stop_hold:
self.force_stop_timer = max(self.force_stop_timer, 0.5)
@@ -363,8 +369,9 @@ class StarPilotVCruise:
self.force_stop_timer = max(self.force_stop_timer - DT_MDL * 0.25, 0.0)
force_stop_enabled = self.force_stop_timer >= 0.5
# Stay committed across model dropouts until standstill
force_stop_enabled |= self.forcing_stop and not sm["carState"].standstill and not turn_scene_active
# Stay committed across model dropouts until standstill. Signaling a turn does not
# abandon a stop already in progress — we bring the car to the stop line, then turn.
force_stop_enabled |= self.forcing_stop and not sm["carState"].standstill
force_stop_enabled |= self.standstill_force_stop_hold
# Override: gas/accel pedal during an active force stop