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whoisdomi
2026-07-31 15:52:09 -05:00
parent 159c78147f
commit 947c6af636
1 changed files with 6 additions and 1 deletions
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starpilot/controls/lib/starpilot_vcruise.py
+6 -1
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@@ -612,7 +612,12 @@ class StarPilotVCruise:
and not turn_scene_active
and not self.starpilot_planner.tracking_lead
and not lead_present):
approach_d = self.starpilot_planner.model_length + offset_m
# adjacent-stopped hint caps the model distance; shorten-only, self-clearing
approach_d = self.starpilot_planner.model_length
adjacent_stop_d = self._get_adjacent_stop_distance(sm)
if adjacent_stop_d is not None:
approach_d = min(approach_d, adjacent_stop_d)
approach_d += offset_m
if approach_d > MPC_HANDOFF_M:
targets.append(math.sqrt(2.0 * FORCE_STOP_APPROACH_DECEL * (approach_d - MPC_HANDOFF_M)))