From d683da24ea39c1a6eef2f38ac876a8c2004972a2 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 26 Aug 2026 16:28:11 -0500
Subject: [PATCH] lines

---
 selfdrive/controls/lib/lane_centering.py        | 9 +++++++--
 selfdrive/controls/tests/test_lane_centering.py | 5 +++++
 selfdrive/ui/mici/onroad/model_renderer.py      | 7 +++++++
 selfdrive/ui/onroad/model_renderer.py           | 7 +++++++
 4 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/lane_centering.py b/selfdrive/controls/lib/lane_centering.py
index 10efbdfdc..6dd4fac05 100644
--- a/selfdrive/controls/lib/lane_centering.py
+++ b/selfdrive/controls/lib/lane_centering.py
@@ -158,7 +158,8 @@ def get_raw_lane_centering_correction(model_v2, v_ego: float, offset: float,
 
 def get_lane_centering_visual_direction(model_v2, v_ego: float, offset: float, e2e_authority: float,
                                         enabled: bool, lat_active: bool, pause_on_signal: bool = False,
-                                        turn_signal_active: bool = False) -> int:
+                                        turn_signal_active: bool = False,
+                                        applied_correction: float | None = None) -> int:
   """Return 1 for a right correction, -1 for left, and 0 when no correction is active."""
   if not enabled or not lat_active or (pause_on_signal and turn_signal_active):
     return 0
@@ -180,6 +181,10 @@ def get_lane_centering_visual_direction(model_v2, v_ego: float, offset: float, e
     float(np.clip(offset, -_MAX_OFFSET, _MAX_OFFSET)),
     float(np.clip(e2e_authority, 0.0, 1.0)),
   )
-  if not valid or not np.isfinite(correction) or correction == 0.0:
+  if not valid or not np.isfinite(correction):
     return 0
+  if correction == 0.0:
+    if applied_correction is None or not np.isfinite(applied_correction) or applied_correction == 0.0:
+      return 0
+    correction = applied_correction
   return 1 if correction > 0.0 else -1
diff --git a/selfdrive/controls/tests/test_lane_centering.py b/selfdrive/controls/tests/test_lane_centering.py
index 6a8e88867..beb89646b 100644
--- a/selfdrive/controls/tests/test_lane_centering.py
+++ b/selfdrive/controls/tests/test_lane_centering.py
@@ -186,3 +186,8 @@ def test_visual_direction_requires_both_primary_lane_lines():
   model = _model(left=-1.5, right=2.1)
   model.laneLineProbs[2] = 0.2
   assert get_lane_centering_visual_direction(model, _V_EGO, 0.0, 0.0, True, True) == 0
+
+
+def test_visual_direction_uses_filtered_correction_in_deadband():
+  model = _model()
+  assert get_lane_centering_visual_direction(model, _V_EGO, 0.0, 0.0, True, True, applied_correction=0.001) == 1
diff --git a/selfdrive/ui/mici/onroad/model_renderer.py b/selfdrive/ui/mici/onroad/model_renderer.py
index 3ad5d1aee..9c6d657a5 100644
--- a/selfdrive/ui/mici/onroad/model_renderer.py
+++ b/selfdrive/ui/mici/onroad/model_renderer.py
@@ -369,6 +369,12 @@ class ModelRenderer(Widget):
       return 0
 
     car_state = sm["carState"]
+    applied_correction = None
+    if sm.valid.get("controlsState", False):
+      try:
+        applied_correction = sm["controlsState"].desiredCurvature - sm["modelV2"].action.desiredCurvature
+      except (AttributeError, TypeError, ValueError):
+        pass
     return get_lane_centering_visual_direction(
       sm["modelV2"], car_state.vEgo,
       toggles.get("lane_center_offset", 0.0),
@@ -377,6 +383,7 @@ class ModelRenderer(Widget):
       ui_state.status == UIStatus.ENGAGED or ui_state.always_on_lateral_active,
       bool(toggles.get("lane_centering_pause_on_signal", True)),
       bool(car_state.leftBlinker or car_state.rightBlinker),
+      applied_correction,
     )
 
   def _lane_line_palette(self) -> tuple[bool, rl.Color, rl.Color, int]:
diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index 3a49f40d1..9c8169a93 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -377,6 +377,12 @@ class ModelRenderer(Widget):
       return 0
 
     car_state = sm["carState"]
+    applied_correction = None
+    if sm.valid.get("controlsState", False):
+      try:
+        applied_correction = sm["controlsState"].desiredCurvature - sm["modelV2"].action.desiredCurvature
+      except (AttributeError, TypeError, ValueError):
+        pass
     return get_lane_centering_visual_direction(
       sm["modelV2"], car_state.vEgo,
       toggles.get("lane_center_offset", 0.0),
@@ -385,6 +391,7 @@ class ModelRenderer(Widget):
       ui_state.status == UIStatus.ENGAGED or ui_state.always_on_lateral_active,
       bool(toggles.get("lane_centering_pause_on_signal", True)),
       bool(car_state.leftBlinker or car_state.rightBlinker),
+      applied_correction,
     )
 
   def _draw_lane_lines(self):