diff --git a/FRC_Fiducial_Tracking/April_PNP_Live.py b/FRC_Fiducial_Tracking/April_PNP_Live.py
index c0828ec..fbba18e 100644
--- a/FRC_Fiducial_Tracking/April_PNP_Live.py
+++ b/FRC_Fiducial_Tracking/April_PNP_Live.py
@@ -156,29 +156,30 @@ while True:
     output = detector.detect(tagFrame)
 
     for det in output:
-        # points of the tag to be tracked
-        tag_points = np.array([[det.center[0], det.center[1]], [det.corners[0][0], det.corners[0][1]], [det.corners[1][0], det.corners[1][1]], [det.corners[2][0], det.corners[2][1]], [det.corners[3][0], det.corners[3][1]]], dtype=np.float32)
+        # if the confidence is less than 40% exclude the tag from being processed.
+        if det[4]>40:
+            # points of the tag to be tracked
+            tag_points = np.array([[det.center[0], det.center[1]], [det.corners[0][0], det.corners[0][1]], [det.corners[1][0], det.corners[1][1]], [det.corners[2][0], det.corners[2][1]], [det.corners[3][0], det.corners[3][1]]], dtype=np.float32)
 
 
-        ret,rvecs, tvecs = cv2.solvePnP(objp, tag_points, camera_matrix, dist, flags=0)
+            ret,rvecs, tvecs = cv2.solvePnP(objp, tag_points, camera_matrix, dist, flags=0)
 
-        # making translation and rotation vectors into a format good for networktables
-        tvecDist = tvecs.tolist()
-        rvecDeg = (rvecs*RAD2DEG).tolist()
-        for i in range(0,len(tvecDist)):
-            tvecDist[i] = float(tvecDist[i][0])
-        for i in range(0,len(rvecDeg)):
-            rvecDeg[i] = float(rvecDeg[i][0])
+            # making translation and rotation vectors into a format good for networktables
+            tvecDist = tvecs.tolist()
+            rvecDeg = (rvecs*RAD2DEG).tolist()
+            for i in range(0,len(tvecDist)):
+                tvecDist[i] = float(tvecDist[i][0])
+            for i in range(0,len(rvecDeg)):
+                rvecDeg[i] = float(rvecDeg[i][0])
 
-        totalDist = sqrt((tvecDist[0]**2)+(tvecDist[1]**2)+(tvecDist[2]**2))
+            totalDist = sqrt((tvecDist[0]**2)+(tvecDist[1]**2)+(tvecDist[2]**2))
 
-        # only show display if you use --display for argparse
-        if args.display:
-            imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, camera_matrix, dist)
-            image = display_features(image, imgpts, totalDist)
+            # only show display if you use --display for argparse
+            if args.display:
+                imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, camera_matrix, dist)
+                image = display_features(image, imgpts, totalDist)
 
-        data_array.append([det.tag_id, tvecDist, rvecDeg, totalDist])
-        
+            data_array.append([det.tag_id, tvecDist, rvecDeg, totalDist])
 
     for i in range(len(data_array)):
         orderVal = 0