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Fix lead detection fallback for weighted average check.

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Add a fallback value of -1 when computing the weighted average to prevent errors caused by invalid or None values. This ensures robust lead detection and avoids potential crashes or undefined behavior.
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DevTekVE
2025-01-18 20:48:06 +01:00
parent b13356d267
commit b3e3d1b384
1 changed files with 1 additions and 1 deletions
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sunnypilot/selfdrive/controls/lib/dec/dec.py
+1 -1
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@@ -206,7 +206,7 @@ class DynamicExperimentalController:
# lead detection with smoothing
self._lead_gmac.add_data(lead_one.status)
self._has_lead_filtered = self._lead_gmac.get_weighted_average() > WMACConstants.LEAD_PROB
self._has_lead_filtered = (self._lead_gmac.get_weighted_average() or -1.) > WMACConstants.LEAD_PROB
#lead_prob = self._lead_gmac.get_weighted_average() or 0
#self._has_lead_filtered = self._smoothed_lead_detection(lead_prob)