Update conditional_experimental_mode.py

FrogAi · Feb 2, 2025 · ab4ba18 · ab4ba18
1 parent 760cc9d
commit ab4ba18
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
@@ -57,7 +57,7 @@ def check_conditions(self, carState, frogpilotNavigation, modelData, v_ego, v_le
       self.status_value = 13 if v_lead < 1 else 14
       return True
 
-    if frogpilot_toggles.conditional_model_stop_time != 0 and self.stop_light_detected and not self.frogpilot_planner.tracking_lead:
+    if frogpilot_toggles.conditional_model_stop_time != 0 and self.stop_light_detected:
       self.status_value = 15 if not self.frogpilot_planner.frogpilot_vcruise.forcing_stop else 16
       return True
 
@@ -94,7 +94,7 @@ def stop_sign_and_light(self, frogpilotCarState, v_ego, frogpilot_toggles):
       model_stopping = self.frogpilot_planner.model_length < v_ego * frogpilot_toggles.conditional_model_stop_time
 
       self.stop_light_filter.update(self.frogpilot_planner.model_stopped or model_stopping)
-      self.stop_light_detected = self.stop_light_filter.x >= THRESHOLD**2
+      self.stop_light_detected = self.stop_light_filter.x >= THRESHOLD**2 and not self.frogpilot_planner.tracking_lead
     else:
       self.stop_light_filter.x = 0
       self.stop_light_detected = False