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firestar5683
2026-04-28 11:33:20 -05:00
parent 53116c29c8
commit 66d2a63bcf
2 changed files with 26 additions and 26 deletions
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starpilot/controls/lib/starpilot_acceleration.py
+5 -5
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@@ -196,16 +196,16 @@ class StarPilotAcceleration:
raw_v_cruise_kph += starpilot_toggles.set_speed_offset
raw_v_cruise = raw_v_cruise_kph * CV.KPH_TO_MS
v_target = float(getattr(sm["starpilotPlan"], "vCruise", raw_v_cruise))
slc_target = float(getattr(sm["starpilotPlan"], "slcSpeedLimit", 0.0))
v_target = float(self.starpilot_planner.v_cruise or raw_v_cruise)
slc_target = float(getattr(self.starpilot_planner.starpilot_vcruise, "slc_target", 0.0))
slc_limited = slc_target > 0.0 and abs(v_target - slc_target) <= SLC_TARGET_EPS and v_target < raw_v_cruise - SLC_TARGET_EPS
has_relevant_lead = any(lead_is_braking_relevant(lead, v_ego) for lead in (sm["radarState"].leadOne, sm["radarState"].leadTwo))
stop_context = (
sm["carState"].standstill or
getattr(sm["controlsState"], "forceDecel", False) or
getattr(sm["starpilotPlan"], "redLight", False) or
getattr(sm["starpilotPlan"], "forcingStop", False) or
getattr(sm["starpilotPlan"], "disableThrottle", False)
getattr(self.starpilot_planner.starpilot_cem, "stop_light_detected", False) or
getattr(self.starpilot_planner.starpilot_vcruise, "forcing_stop", False) or
getattr(self.starpilot_planner.starpilot_following, "disable_throttle", False)
)
if (getattr(starpilot_toggles, "speed_limit_controller", False) and
v_ego > SLC_COAST_MIN_SPEED and