Remove lead filtering

frogpilot/controls/lib/frogpilot_following.py

@@ -7,7 +7,8 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFO
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
 
 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
-PERSONALITY_BP = [20. * CV.KPH_TO_MS, 90. * CV.KPH_TO_MS]
+# Delay blending to the high-speed following value until much higher speeds (was ~55 mph)
+PERSONALITY_BP = [20. * CV.KPH_TO_MS, 100. * CV.MPH_TO_MS]
 
 class FrogPilotFollowing:
   def __init__(self, FrogPilotPlanner):

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -500,11 +500,6 @@ class LongitudinalMpc:
     x_lead = clip(x_lead, min_x_lead, 1e8)
     v_lead = clip(v_lead, 0.0, 1e8)
     a_lead = clip(a_lead, -10., 5.)
-    # Apply smoothing filters with interp scaling
-    self.lead_a_filter.update(a_lead)
-    self.lead_v_filter.update(v_lead)
-    a_lead = self.lead_a_filter.x
-    v_lead = self.lead_v_filter.x
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau, v_ego)
     return lead_xv