Coast Toggle

starpilot/common/safe_mode.py

@@ -68,6 +68,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "DecelerationProfile",
   "HumanAcceleration",
   "HumanFollowing",
+  "CoastUpToLeads",
   "HumanLaneChanges",
   "LeadDetectionThreshold",
   "RecoveryPower",

starpilot/common/starpilot_variables.py

@@ -851,6 +851,9 @@ class StarPilotVariables:
       toggle.custom_accel_profile_values = [custom_accel_defaults[key] for key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS]
     toggle.human_acceleration = self.get_value("HumanAcceleration", condition=longitudinal_tuning)
     toggle.human_following = self.get_value("HumanFollowing", condition=longitudinal_tuning)
+    toggle.coast_up_to_leads = self.get_value("CoastUpToLeads", condition=longitudinal_tuning)
+    if longitudinal_tuning and self.params.get("CoastUpToLeads") is None:
+      toggle.coast_up_to_leads = True
     toggle.human_lane_changes = has_radar and self.get_value("HumanLaneChanges", condition=longitudinal_tuning)
     # Keep lead detection sensitivity normalized even when longitudinal tuning is disabled.
     # Some branches can return raw integer defaults (e.g. 35) when condition=False.

starpilot/controls/lib/starpilot_following.py

@@ -85,7 +85,7 @@ class StarPilotFollowing:
       self.t_follow = min(self.t_follow + self.starpilot_planner.starpilot_weather.increase_following_distance, MAX_T_FOLLOW)
 
     self.disable_throttle = False
-    if self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.status:
+    if getattr(starpilot_toggles, "coast_up_to_leads", True) and self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.status:
       lead_distance = self.starpilot_planner.lead_one.dRel
       v_lead = self.starpilot_planner.lead_one.vLead
       closing_speed = max(0.0, v_ego - v_lead)

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -967,6 +967,14 @@
         "ui_type": "toggle",
         "parent_key": "LongitudinalTune"
       },
+      {
+        "key": "CoastUpToLeads",
+        "label": "Coast Up To Leads",
+        "description": "Allow openpilot to briefly coast toward far leads before resuming normal throttle. Disable this if your vehicle shows gas/brake alternation while approaching distant traffic.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "parent_key": "LongitudinalTune"
+      },
       {
         "key": "HumanLaneChanges",
         "label": "Human-Like Lane Changes",

starpilot/ui/qt/offroad/longitudinal_settings.cc

@@ -148,6 +148,7 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
     {"DecelerationProfile", tr("Deceleration Profile"), tr("<b>How firmly openpilot slows down.</b> \"Eco\" favors coasting, \"Sport\" applies stronger braking."), ""},
     {"HumanAcceleration", tr("Human-Like Acceleration"), tr("<b>Acceleration that mimics human behavior</b> by easing the throttle at low speeds and adding extra power when taking off from a stop."), ""},
     {"HumanFollowing", tr("Human-Like Following"), tr("<b>Following behavior that mimics human drivers</b> by closing gaps behind faster vehicles for quicker takeoffs and dynamically adjusting the desired following distance for gentler, more efficient braking."), ""},
+    {"CoastUpToLeads", tr("Coast Up To Leads"), tr("<b>Allow openpilot to coast toward far leads before resuming normal throttle.</b> Disable this if your vehicle shows noticeable gas/brake alternation while approaching distant traffic."), ""},
     {"HumanLaneChanges", tr("Human-Like Lane Changes"), tr("<b>Lane-change behavior that mimics human drivers</b> by anticipating and tracking adjacent vehicles during lane changes."), ""},
     {"LeadDetectionThreshold", tr("Lead Detection Sensitivity"), tr("<b>How sensitive openpilot is to detecting vehicles.</b> Higher sensitivity allows quicker detection at longer distances but may react to non-vehicle objects; lower sensitivity is more conservative and reduces false detections."), ""},
     {"TacoTune", tr("\"Taco Bell Run\" Turn Speed Hack"), tr("<b>The turn-speed hack from comma's 2022 \"Taco Bell Run\".</b> Designed to slow down for left and right turns."), ""},

starpilot/ui/qt/offroad/longitudinal_settings.h

@@ -33,7 +33,7 @@ private:
   QSet<QString> conditionalExperimentalKeys = {"PersistExperimentalState", "CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CESignalSpeed", "CEStopLights", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
-  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune"};
+  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "CoastUpToLeads", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune"};
   QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "ForceStandstill", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset", "WeatherPresets"};
   QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};