From 2b1fd89064bcc97e9eb644ad777a634ce5811024 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Jul 2026 12:01:46 -0700 Subject: [PATCH] annotate radar fields (#38347) --- openpilot/cereal/log.capnp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp index 722213daa..8ce9f868a 100644 --- a/openpilot/cereal/log.capnp +++ b/openpilot/cereal/log.capnp @@ -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