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modeld: restore 1.6 m/s curvature hold threshold

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Restore the original minimum lateral-control speed in both model runners. At or below 1.6 m/s, keep the previous desired curvature. This does not disable steering or replace the model speed input.

Validation: both files byte-match commit 32f16216977bceb42923eb7eeaa5dd926979ce65; Python syntax, scoped Ruff and diff checks pass. Turn-cue and cooperative-steering behavior are otherwise unchanged.
This commit is contained in:
Isaac Barham
2026-11-03 08:02:15 -05:00
parent 995e5d49e9
commit f5d861d86d
2 changed files with 2 additions and 2 deletions
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openpilot/selfdrive/modeld/modeld.py
+1 -1
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@@ -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
openpilot/sunnypilot/modeld_v2/modeld.py
+1 -1
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@@ -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