From 347c2b640b516cac409cade49a10711b8ae4713e Mon Sep 17 00:00:00 2001
From: "ole.flb" <45100017+oleflb@users.noreply.github.com>
Date: Mon, 15 Jul 2024 20:17:31 +0200
Subject: [PATCH] reintroduce check (#1207)

Co-authored-by: okiwi6 <oleflb>
---
 crates/control/src/ball_filter.rs | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/crates/control/src/ball_filter.rs b/crates/control/src/ball_filter.rs
index 1c2276b300..6958d67741 100644
--- a/crates/control/src/ball_filter.rs
+++ b/crates/control/src/ball_filter.rs
@@ -157,7 +157,10 @@ impl BallFilter {
                 .start_time
                 .duration_since(ball.last_seen)
                 .expect("time ran backwards");
+            let validity_high_enough =
+                hypothesis.validity >= filter_parameters.validity_discard_threshold;
             is_ball_inside_field(ball, field_dimensions)
+                && validity_high_enough
                 && duration_since_last_observation < filter_parameters.hypothesis_timeout
         };