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Merge pull request #47 from firestar5683/codex/find-and-patch-braking-issue-in-chill-mode

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Restore minimum lead-tracking buffer to fix chill-mode lead stopping
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Dom
2026-04-02 11:48:45 -05:00
committed by GitHub
parent f14fa204fd fbdf401d1c
commit 6099e10998
1 changed files with 5 additions and 1 deletions
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starpilot/controls/starpilot_planner.py
+5 -1
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@@ -130,8 +130,12 @@ class StarPilotPlanner:
self.starpilot_weather.weather_id = 0
def update_lead_status(self, stop_distance=STOP_DISTANCE):
# Keep a minimum lead-tracking cushion independent of user stop-distance tuning.
# Regressions here can cause ACC/chill to de-prioritize lead control at low speeds.
tracking_buffer = max(float(stop_distance), 4.0)
following_lead = self.lead_one.status
following_lead &= self.lead_one.dRel < self.model_length + float(stop_distance)
following_lead &= self.lead_one.dRel < self.model_length + tracking_buffer
self.tracking_lead_filter.update(following_lead)
return self.tracking_lead_filter.x >= THRESHOLD