From 912160c429903c80664208b89de980b0204331d0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 5 Jun 2025 04:54:45 +0800 Subject: [PATCH] ui: improve calibration height initialization (#35459) improve calibration height initialization --- selfdrive/ui/onroad/model_renderer.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py index 38951fb50..ad037f8af 100644 --- a/selfdrive/ui/onroad/model_renderer.py +++ b/selfdrive/ui/onroad/model_renderer.py @@ -7,6 +7,7 @@ from openpilot.common.params import Params from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.system.ui.lib.application import DEFAULT_FPS from openpilot.system.ui.lib.shader_polygon import draw_polygon +from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT CLIP_MARGIN = 500 @@ -51,7 +52,7 @@ class ModelRenderer: self._lane_line_probs = np.zeros(4, dtype=np.float32) self._road_edge_stds = np.zeros(2, dtype=np.float32) self._lead_vehicles = [LeadVehicle(), LeadVehicle()] - self._path_offset_z = 1.22 + self._path_offset_z = HEIGHT_INIT[0] # Initialize ModelPoints objects self._path = ModelPoints() @@ -99,7 +100,10 @@ class ModelRenderer: # Update state self._experimental_mode = sm['selfdriveState'].experimentalMode - self._path_offset_z = sm['liveCalibration'].height[0] + + live_calib = sm['liveCalibration'] + self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0] + if sm.updated['carParams']: self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl