From 609ba6cf63e207e2e037a38bef28071c86b320c9 Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Tue, 28 Apr 2026 07:48:56 -0500 Subject: [PATCH] Slow takeoff possible fix --- selfdrive/controls/lib/longitudinal_planner.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index d77eae9fc..1194cf95e 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -26,7 +26,7 @@ ALLOW_THROTTLE_THRESHOLD = 0.4 ALLOW_THROTTLE_HYSTERESIS = 0.05 ALLOW_THROTTLE_ENABLE_THRESHOLD = ALLOW_THROTTLE_THRESHOLD + ALLOW_THROTTLE_HYSTERESIS ALLOW_THROTTLE_DISABLE_THRESHOLD = ALLOW_THROTTLE_THRESHOLD - ALLOW_THROTTLE_HYSTERESIS -MIN_ALLOW_THROTTLE_SPEED = 2.5 +MIN_ALLOW_THROTTLE_SPEED = 5.0 RAW_LEAD_SAFETY_MIN_CLOSING_SPEED = 0.5 RAW_LEAD_SAFETY_TTC = 7.0 RAW_LEAD_SAFETY_DISTANCE = 40.0 @@ -809,7 +809,7 @@ class LongitudinalPlanner: longitudinalPlan.fcw = self.fcw longitudinalPlan.aTarget = float(self.output_a_target) - longitudinalPlan.shouldStop = bool(self.output_should_stop) or sm['starpilotPlan'].forcingStopLength < 1 + longitudinalPlan.shouldStop = bool(self.output_should_stop) or (sm['starpilotPlan'].forcingStop and sm['starpilotPlan'].forcingStopLength < 1) longitudinalPlan.allowBrake = True longitudinalPlan.allowThrottle = bool(self.allow_throttle)