From ab4ba18bf55fe18967708527ec7ce36da478e635 Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Sat, 1 Feb 2025 23:09:54 -0700
Subject: [PATCH] Update conditional_experimental_mode.py

---
 .../frogpilot/controls/lib/conditional_experimental_mode.py   | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
index fcac4d81c6b4ab..eee9572ae091fc 100644
--- 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