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nudgeless should process immediately

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This commit is contained in:
Jason Wen
2025-03-24 11:35:41 -04:00
parent 30155a9811
commit 0e935fe947
1 changed files with 2 additions and 2 deletions
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sunnypilot/selfdrive/controls/lib/auto_lane_change.py
+2 -2
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@@ -23,7 +23,7 @@ class AutoLaneChangeState:
AUTO_LANE_CHANGE_TIMER = {
AutoLaneChangeState.OFF: 0.0, # Off
AutoLaneChangeState.NUDGE: 0.0, # Nudge
AutoLaneChangeState.NUDGELESS: 0.1, # Nudgeless
AutoLaneChangeState.NUDGELESS: 0.05, # Nudgeless
AutoLaneChangeState.HALF_SECOND: 0.5, # 0.5-second delay
AutoLaneChangeState.ONE_SECOND: 1.0, # 1-second delay
AutoLaneChangeState.TWO_SECONDS: 2.0, # 2-second delay
@@ -85,7 +85,7 @@ class AutoLaneChangeController:
# 2. We've waited long enough
# 3. Brake wasn't previously pressed
self.auto_lane_change_allowed = self.lane_change_delay and \
self.lane_change_wait_timer > self.lane_change_delay and \
self.lane_change_wait_timer >= self.lane_change_delay and \
not self.prev_brake_pressed
def update(self, blindspot_detected: bool, brake_pressed: bool) -> None: