To address the loss of critical intermediate results caused by fixed-threshold compaction in long agent trajectories, this paper proposes the Self-Compacting framework. By pairing a compaction tool with a lightweight rubric, it enables models to autonomously decide when to summarize context based on sub-task resolution or trajectory convergence, rather than relying on external triggers. Experiments across six benchmarks and seven models show significant cost reduction per question, revealing a meta-cognitive gap where unprompted models cannot detect context rot, which scaffolds can bridge without training.