Lateral Resume Delay Feature W/O Testing

common/params_keys.h

@@ -425,6 +425,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PauseAOLOnBrake", {PERSISTENT, BOOL, "0", "0", 1}},
     {"PauseLateralOnSignal", {PERSISTENT, BOOL, "0", "0", 1}},
     {"PauseLateralSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
+    {"LateralResumeDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 1}},
     {"PedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1}},
     {"PondPaired", {PERSISTENT, BOOL, "0", "0", 0}},
     {"PondUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},

starpilot/common/starpilot_variables.py

@@ -1089,6 +1089,7 @@ class StarPilotVariables:
     quality_of_life_lateral = self.get_value("QOLLateral")
     toggle.pause_lateral_below_speed = self.get_value("PauseLateralSpeed", cast=float, condition=quality_of_life_lateral, conversion=speed_conversion)
     toggle.pause_lateral_below_signal = self.get_value("PauseLateralOnSignal", condition=toggle.pause_lateral_below_speed != 0)
+    toggle.pause_lateral_signal_delay = self.get_value("LateralResumeDelay", cast=float, condition=toggle.pause_lateral_below_signal, default=0.0, min=0.0, max=5.0)
 
     quality_of_life_longitudinal = toggle.openpilot_longitudinal and self.get_value("QOLLongitudinal")
     toggle.cruise_increase = self.get_value("CustomCruise", cast=float, condition=(quality_of_life_longitudinal and not pcm_cruise))

starpilot/controls/starpilot_planner.py

@@ -61,6 +61,13 @@ class StarPilotPlanner:
     self.tracking_lead = False
     self._prev_gps_bearing = 0
 
+    # Blinker-based lateral resume delay state
+    self.blinker_min_speed = float('inf')
+    self.blinker_delay_active = False
+    self.blinker_delay_frame = 0
+    self.CS_prev_left_blinker = False
+    self.CS_prev_right_blinker = False
+
     self.lane_width_left = 0
     self.lane_width_right = 0
     self._lane_width_counter = 0
@@ -128,6 +135,37 @@ class StarPilotPlanner:
     self.lateral_check |= sm["carState"].standstill
     self.lateral_check &= not sm["starpilotCarState"].pauseLateral
 
+    # Blinker-based lateral resume delay: after blinker turns off, delay lateral
+    # resumption if the vehicle went below half the pause speed during the blinker.
+    # This lets the driver manually straighten the wheel after a turn without
+    # openpilot fighting them.
+    CS = sm["carState"]
+    blinker_on = CS.leftBlinker or CS.rightBlinker
+    prev_blinker_on = self.CS_prev_left_blinker or self.CS_prev_right_blinker
+
+    if blinker_on:
+      # Track minimum speed while blinker is active
+      if not prev_blinker_on:
+        self.blinker_min_speed = CS.vEgo
+      else:
+        self.blinker_min_speed = min(self.blinker_min_speed, CS.vEgo)
+      self.blinker_delay_active = False
+    elif prev_blinker_on and starpilot_toggles.pause_lateral_below_signal and starpilot_toggles.pause_lateral_signal_delay > 0:
+      # Blinker just turned off — start the delay timer
+      self.blinker_delay_active = True
+      self.blinker_delay_frame = sm.frame
+
+    if self.blinker_delay_active:
+      time_since_blinker = (sm.frame - self.blinker_delay_frame) * DT_MDL
+      if time_since_blinker < starpilot_toggles.pause_lateral_signal_delay and \
+         self.blinker_min_speed < starpilot_toggles.pause_lateral_below_speed / 2:
+        self.lateral_check = False
+      else:
+        self.blinker_delay_active = False
+
+    self.CS_prev_left_blinker = CS.leftBlinker
+    self.CS_prev_right_blinker = CS.rightBlinker
+
     self.model_length = sm["modelV2"].position.x[-1]
 
     self.raw_model_stopped = self.model_length < CRUISING_SPEED * PLANNER_TIME

starpilot/ui/qt/offroad/lateral_settings.cc

@@ -59,7 +59,8 @@ StarPilotLateralPanel::StarPilotLateralPanel(StarPilotSettingsWindow *parent, bo
     {"NNFFLite", tr("Neural Network Feedforward (NNFF) Lite"), tr("<b>A lightweight version of Twilsonco's \"Neural Network FeedForward\" controller.</b> Uses the \"look-ahead\" planned lateral jerk logic from the full model to help smoothen steering adjustments in curves, but does not use the full neural network for torque calculation."), ""},
 
     {"QOLLateral", tr("Quality of Life"), tr("<b>Steering control changes to fine-tune how openpilot drives.</b>"), "../../starpilot/assets/toggle_icons/icon_quality_of_life.png"},
-    {"PauseLateralSpeed", tr("Pause Steering Below"), tr("<b>Pause steering below the set speed.</b>"), ""}
+    {"PauseLateralSpeed", tr("Pause Steering Below"), tr("<b>Pause steering below the set speed.</b>"), ""},
+    {"LateralResumeDelay", tr("Lateral Resume Delay"), tr("<b>Delay before lateral control resumes after the turn signal is turned off.</b> Only applies when the vehicle speed dropped below half the \"Pause Steering Below\" speed during the turn signal. Set to 0 to disable."), ""}
   };
 
   for (const auto &[param, title, desc, icon] : lateralToggles) {
@@ -136,6 +137,14 @@ StarPilotLateralPanel::StarPilotLateralPanel(StarPilotSettingsWindow *parent, bo
       std::vector<QString> pauseLateralToggleNames{tr("Turn Signal Only")};
       lateralToggle = new StarPilotParamValueButtonControl(param, title, desc, icon, 0, 99, QString(), std::map<float, QString>(), 1, true, pauseLateralToggles, pauseLateralToggleNames, true);
 
+    } else if (param == "LateralResumeDelay") {
+      std::map<float, QString> delayLabels;
+      for (int i = 0; i <= 50; ++i) {
+        float key = i / 10.0f;
+        delayLabels[key] = key == 0.0f ? tr("Off") : QString::number(key, 'f', 1) + tr(" s");
+      }
+      lateralToggle = new StarPilotParamValueControl(param, title, desc, icon, 0, 5, QString(), delayLabels, 0.1);
+
     } else {
       lateralToggle = new ParamControl(param, title, desc, icon);
     }
@@ -375,6 +384,10 @@ void StarPilotLateralPanel::updateToggles() {
         setVisible &= params.getBool("LaneChanges") && params.getBool("NudgelessLaneChange");
       }
 
+      else if (key == "LateralResumeDelay") {
+        setVisible &= params.getBool("PauseLateralOnSignal");
+      }
+
       else if (key == "NNFF") {
         setVisible &= parent->hasNNFFLog;
         setVisible &= !parent->isAngleCar;

starpilot/ui/qt/offroad/lateral_settings.h

@@ -28,7 +28,7 @@ private:
   QSet<QString> aolKeys = {"AlwaysOnLateralLKAS", "PauseAOLOnBrake"};
   QSet<QString> laneChangeKeys = {"LaneChangeSmoothing", "LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"};
   QSet<QString> lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires"};
-  QSet<QString> qolKeys = {"PauseLateralSpeed"};
+  QSet<QString> qolKeys = {"PauseLateralSpeed", "LateralResumeDelay"};
 
   QSet<QString> parentKeys;