From 3f29ccbd99c538e9f3d11c6178bc90b0a2ed3f7b Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Thu, 16 Jan 2025 22:54:46 -0700
Subject: [PATCH] Update dec.py

---
 sunnypilot/selfdrive/controls/lib/dec/dec.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 3b8adb2ed9..b30b5e7ff8 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -99,16 +99,16 @@ class DynamicExperimentalController:
     # Replace WMAC with FOF
     self._has_lead_filtered_prev = False
 
-    self._lead_fof = FirstOrderFilter(x0=0.0, rc=0.8, dt=DT_MDL)  # Adjust rc for filtering
+    self._lead_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL)  # Adjust rc for filtering
     self._has_lead_filtered = False
 
-    self._slow_down_fof = FirstOrderFilter(x0=0.0, rc=0.8, dt=DT_MDL)
+    self._slow_down_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL)
     self._has_slow_down: bool = False
 
-    self._slowness_fof = FirstOrderFilter(x0=0.0, rc=0.8, dt=DT_MDL)
+    self._slowness_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL)
     self._has_slowness: bool = False
 
-    self._dangerous_ttc_fof = FirstOrderFilter(x0=0.0, rc=0.8, dt=DT_MDL)
+    self._dangerous_ttc_fof = FirstOrderFilter(x0=0.0, rc=1, dt=DT_MDL)
     self._has_dangerous_ttc: bool = False
 
     self._v_ego_kph = 0.