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firestar5683
2026-04-16 13:49:18 -05:00
parent 828460f729
commit d0630df075
2 changed files with 25 additions and 19 deletions
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starpilot/controls/starpilot_planner.py
+3 -1
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@@ -124,7 +124,9 @@ class StarPilotPlanner:
self.starpilot_following.update(controls_enabled, v_ego, sm, starpilot_toggles)
if controls_enabled and starpilot_toggles.conditional_experimental_mode:
cem_tracking_active = controls_enabled or sm["starpilotCarState"].alwaysOnLateralEnabled
if cem_tracking_active and starpilot_toggles.conditional_experimental_mode:
# Keep CEM's filters warm in AOL so engagement can inherit the current scene.
self.starpilot_cem.update(v_ego, sm, starpilot_toggles)
else:
self.starpilot_cem.curve_detected = False