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radard/update: optimize capnp (#23380)

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This commit is contained in:
Dean Lee
2022-01-04 09:26:32 +08:00
committed by GitHub
parent c70fc7dbe5
commit 7b612d47b6
1 changed files with 4 additions and 3 deletions
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selfdrive/controls/radard.py
+4 -3
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@@ -172,9 +172,10 @@ class RadarD():
radarState.carStateMonoTime = sm.logMonoTime['carState']
if enable_lead:
if len(sm['modelV2'].leadsV3) > 1:
radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[0], low_speed_override=True)
radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[1], low_speed_override=False)
leads_v3 = sm['modelV2'].leadsV3
if len(leads_v3) > 1:
radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
return dat