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annotate radar fields (#38347)

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This commit is contained in:
Adeeb Shihadeh
2026-07-15 12:01:46 -07:00
committed by GitHub
parent ec72ee096d
commit 2b1fd89064
1 changed files with 7 additions and 7 deletions
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openpilot/cereal/log.capnp
+7 -7
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@@ -711,15 +711,15 @@ struct RadarState @0x9a185389d6fdd05f {
leadTwo @4 :LeadData;
struct LeadData {
dRel @0 :Float32;
yRel @1 :Float32;
vRel @2 :Float32;
vLead @4 :Float32;
dRel @0 :Float32; # m from the front bumper of the car
yRel @1 :Float32; # m in car frame, left positive
vRel @2 :Float32; # m/s relative longitudinal speed
vLead @4 :Float32; # m/s absolute lead speed
vLeadK @8 :Float32; # kalman-filtered lead speed
aLeadK @9 :Float32; # kalman-filtered lead accel
present @11 :Bool;
aLeadTau @12 :Float32;
modelProb @13 :Float32;
present @11 :Bool; # true if a lead is present
aLeadTau @12 :Float32; # lead accel time constant
modelProb @13 :Float32; # vision model lead probability
radar @14 :Bool; # true if lead is radar-matched (vs vision-only)
radarTrackId @15 :Int32 = -1; # for debugging