From 32f16216977bceb42923eb7eeaa5dd926979ce65 Mon Sep 17 00:00:00 2001 From: Claude Date: Mon, 2 Nov 2026 02:46:33 +0000 Subject: [PATCH] modeld: raise minimum lateral control speed to 1.6 m/s Port of commaai/openpilot#39174. Below this speed modeld holds the previous desired curvature instead of following the model, so the wheel stops chasing noisy plans while creeping or stopped. Applied to both selfdrive/modeld and sunnypilot modeld_v2. Co-Authored-By: Claude Opus 5.5 Claude-Session: https://claude.ai/code/session_01ATDgLMxRqNpP9H2Ndeg65v --- openpilot/selfdrive/modeld/modeld.py | 2 +- openpilot/sunnypilot/modeld_v2/modeld.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py index 7e8c705abc..36651a8502 100755 --- a/openpilot/selfdrive/modeld/modeld.py +++ b/openpilot/selfdrive/modeld/modeld.py @@ -49,7 +49,7 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 -MIN_LAT_CONTROL_SPEED = 0.3 +MIN_LAT_CONTROL_SPEED = 1.6 BIG_MODEL_TIMEOUT = 60 diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py index 70f252be9a..957d8da877 100755 --- a/openpilot/sunnypilot/modeld_v2/modeld.py +++ b/openpilot/sunnypilot/modeld_v2/modeld.py @@ -102,7 +102,7 @@ class ModelState(ModelStateBase): self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".0")) self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0")) - self.MIN_LAT_CONTROL_SPEED = 0.3 + self.MIN_LAT_CONTROL_SPEED = 1.6 self.PLANPLUS_CONTROL: float = 1.0 self.chestnut = chestnut