Lead detection sensitivity

selfdrive/controls/radard.py

@@ -216,7 +216,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
              frogpilot_plan: capnp._DynamicStructReader, frogpilot_toggles: SimpleNamespace,
              low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_msg.prob > .5:
+  if len(tracks) > 0 and ready and lead_msg.prob > frogpilot_toggles.lead_detection_probability:
     track = match_vision_to_track(v_ego, lead_msg, model_data, tracks, frogpilot_toggles)
   else:
     track = None
@@ -224,7 +224,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   lead_dict = {'status': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_msg.prob)
-  elif (track is None) and ready and (lead_msg.prob > .5):
+  elif (track is None) and ready and (lead_msg.prob > frogpilot_toggles.lead_detection_probability):
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
   if low_speed_override: