From 0e935fe9479ee29a7baf442c11b0bb137bfb41c0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 24 Mar 2025 11:35:41 -0400 Subject: [PATCH] nudgeless should process immediately --- sunnypilot/selfdrive/controls/lib/auto_lane_change.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py index 7cc965c2f2..844181a740 100644 --- a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py +++ b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py @@ -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: