From 7da7df2297715411e3222d5b7c0a281e826fca02 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 5 Jan 2026 19:05:54 -0600
Subject: [PATCH] Remove lead filtering

---
 frogpilot/controls/lib/frogpilot_following.py           | 3 ++-
 selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 5 -----
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/frogpilot/controls/lib/frogpilot_following.py b/frogpilot/controls/lib/frogpilot_following.py
index 9bb9ebb7e86a50..ad3318bafdfbba 100644
--- a/frogpilot/controls/lib/frogpilot_following.py
+++ b/frogpilot/controls/lib/frogpilot_following.py
@@ -7,7 +7,8 @@
 from openpilot.frogpilot.common.frogpilot_variables import CITY_SPEED_LIMIT
 
 TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT]
-PERSONALITY_BP = [20. * CV.KPH_TO_MS, 90. * CV.KPH_TO_MS]
+# Delay blending to the high-speed following value until much higher speeds (was ~55 mph)
+PERSONALITY_BP = [20. * CV.KPH_TO_MS, 100. * CV.MPH_TO_MS]
 
 class FrogPilotFollowing:
   def __init__(self, FrogPilotPlanner):
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index a7ae314c8e2a41..aa48421f0b397c 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -500,11 +500,6 @@ def process_lead(self, lead, tracking_lead=True):
     x_lead = clip(x_lead, min_x_lead, 1e8)
     v_lead = clip(v_lead, 0.0, 1e8)
     a_lead = clip(a_lead, -10., 5.)
-    # Apply smoothing filters with interp scaling
-    self.lead_a_filter.update(a_lead)
-    self.lead_v_filter.update(v_lead)
-    a_lead = self.lead_a_filter.x
-    v_lead = self.lead_v_filter.x
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau, v_ego)
     return lead_xv