From 5e798af4a11033f4d1e1a36ec91c4d9ecc22fb71 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Wed, 21 Aug 2024 17:41:52 -0700
Subject: [PATCH] Update dynamic_experimental_controller.py

---
 .../lib/sunnypilot/dynamic_experimental_controller.py        | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py b/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py
index 46291b0391..f064d22434 100644
--- a/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/dynamic_experimental_controller.py
@@ -196,8 +196,9 @@ class DynamicExperimentalController:
 
     # lead detection with smoothing
     self._lead_gmac.add_data(lead_one.status)
-    lead_prob = self._lead_gmac.get_weighted_average() or 0
-    self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
+    self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
+    #lead_prob = self._lead_gmac.get_weighted_average() or 0
+    #self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)
 
     # adaptive slow down detection
     adaptive_threshold = self._adaptive_slowdown_threshold()