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firestar5683
2026-05-03 16:47:06 -05:00
parent 6923c35e7d
commit 7f03e2880c
46 changed files with 1441 additions and 1385 deletions
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starpilot/controls/lib/conditional_experimental_mode.py
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@@ -223,8 +223,10 @@ class ConditionalExperimentalMode:
slower_lead = starpilot_toggles.conditional_slower_lead and self.starpilot_planner.starpilot_following.slower_lead
stopped_lead = starpilot_toggles.conditional_stopped_lead and lead_speed < 1
allow_raw_vision_slow_lead = not self.starpilot_planner.tracking_lead
raw_vision_slow_lead = bool(
starpilot_toggles.conditional_slower_lead and
allow_raw_vision_slow_lead and
lead_status and
lead_prob >= self.SLOW_LEAD_CONTINUITY_MIN_MODEL_PROB and
lead_distance < max(40.0, v_ego * self.SLOW_LEAD_CONTINUITY_MAX_DISTANCE_TIME) and