From 05479c4b7de666bb416893718443d27aa786e6f4 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Thu, 22 Aug 2019 16:25:23 +1000
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E8=AA=BF=E6=95=B4=E7=9B=B8?=
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---
 common/params.py                             | 1 +
 selfdrive/controls/lib/lane_planner.py       | 4 +++-
 selfdrive/dragonpilot/dragonconf/__init__.py | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/common/params.py b/common/params.py
index becddc5eb..1e128db91 100755
--- a/common/params.py
+++ b/common/params.py
@@ -116,6 +116,7 @@ keys = {
   "DragonEnableMixplorer": [TxType.PERSISTENT],
   "DragonRunMixplorer": [TxType.PERSISTENT],
   "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
+  "DragonCameraOffset": [TxType.PERSISTENT],
 }
 
 
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 60a24b6d9..14d1ddf5e 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -1,8 +1,10 @@
 from common.numpy_fast import interp
 import numpy as np
 from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, compute_path_pinv
+from common.params import Params
+params = Params()
 
-CAMERA_OFFSET = 0.06  # m from center car to camera
+CAMERA_OFFSET = int(params.get("DragonCameraOffset"))
 
 
 def calc_d_poly(l_poly, r_poly, p_poly, l_prob, r_prob, lane_width):
diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py
index d9a67fdc3..070e44810 100644
--- a/selfdrive/dragonpilot/dragonconf/__init__.py
+++ b/selfdrive/dragonpilot/dragonconf/__init__.py
@@ -36,6 +36,7 @@ default_conf = {
   'DragonEnableMixplorer': '0',
   'DragonRunMixplorer': '0',
   'DragonSteeringMonitorTimer': '3',
+  'DragonCameraOffset': '6',
 }
 
 deprecated_conf = {