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revert lead smoothing

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rav4kumar
2025-01-12 21:50:52 -07:00
parent e59ab3e03c
commit 872267970c
1 changed files with 4 additions and 3 deletions
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sunnypilot/selfdrive/controls/lib/dec/dec.py
+4 -3
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@@ -211,9 +211,10 @@ class DynamicExperimentalController:
# lead detection with smoothing
self._lead_gmac.add_data(lead_one.status)
#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)
self._has_lead_filtered = self._lead_gmac.get_weighted_average() > LEAD_PROB
#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)
# adaptive slow down detection
adaptive_threshold = self._adaptive_slowdown_threshold()