From 91e342fc58ddef69d14c3f9dffabcdbdc14fb623 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 19 Sep 2024 14:14:22 -0700
Subject: [PATCH] longitudinal maneuver report: require two frames above target
 (#33602)

require two frames
---
 tools/longitudinal_maneuvers/generate_report.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py
index 712d76d95b..36e2d3eecc 100755
--- a/tools/longitudinal_maneuvers/generate_report.py
+++ b/tools/longitudinal_maneuvers/generate_report.py
@@ -59,13 +59,18 @@ def report(platform, route, _description, CP, maneuvers):
         aTarget = longitudinalPlan[0].aTarget
         target_cross_time = None
         f.write(f'<h3 style="font-weight: normal">Initial aTarget: {aTarget} m/s^2')
+
+        # Localizer is noisy, require two consecutive 20Hz frames above threshold
+        prev_crossed = False
         for t, lp in zip(t_livePose, livePose, strict=True):
-          if (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x):
+          crossed = (0 < aTarget < lp.accelerationDevice.x) or (0 > aTarget > lp.accelerationDevice.x)
+          if crossed and prev_crossed:
             f.write(f', <strong>crossed in {t:.3f}s</strong>')
             target_cross_time = t
             if maneuver_valid:
               target_cross_times[description].append(t)
             break
+          prev_crossed = crossed
         else:
           f.write(', <strong>not crossed</strong>')
         f.write('</h3>')