Fix chill lead tracking regression from stop-distance buffer change

2026-04-02 11:48:31 -05:00
parent f14fa204fd
commit fbdf401d1c
1 changed files with 5 additions and 1 deletions
@@ -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