From b3e3d1b384c54f5ffd8bc8d7a2d5f18a2af87dd2 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sat, 18 Jan 2025 20:48:06 +0100 Subject: [PATCH] Fix lead detection fallback for weighted average check. 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. --- sunnypilot/selfdrive/controls/lib/dec/dec.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py index da6e98604d..5737f4e8d9 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/dec.py +++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py @@ -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)