From f6377538e94f98a9de772bc54c35b267998e6746 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 1 Apr 2026 10:08:48 -0500
Subject: [PATCH] Update starpilot_planner.py

---
 starpilot/controls/starpilot_planner.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/starpilot/controls/starpilot_planner.py b/starpilot/controls/starpilot_planner.py
index d4521a899..e31766414 100644
--- a/starpilot/controls/starpilot_planner.py
+++ b/starpilot/controls/starpilot_planner.py
@@ -131,7 +131,7 @@ class StarPilotPlanner:
 
   def update_lead_status(self, stop_distance=STOP_DISTANCE):
     following_lead = self.lead_one.status
-    following_lead &= self.lead_one.dRel < self.model_length + max(float(stop_distance), 4.0)
+    following_lead &= self.lead_one.dRel < self.model_length + float(stop_distance)
 
     self.tracking_lead_filter.update(following_lead)
     return self.tracking_lead_filter.x >= THRESHOLD