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ui: fix inverted DM head tracking on RHD (#38607)

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* ui: fix inverted DM head tracking on RHD

b29d0a17af switched the mici driver state renderer from computing pose
from driverStateV2 itself to consuming driverMonitoringState.visionPolicyState.pose.
That published yaw is mirrored for RHD (policy.py:269) so the asymmetric yaw
offsets/thresholds can be tuned in a single frame, so the UI's unconditional
sign flip left RHD head tracking backwards. LHD was unaffected, which is why
the refactor looked like a no-op.

Undo the mirror on the UI side.

* Apply suggestions from code review

* fold the sign into the RHD multiplier
This commit is contained in:
Shane Smiskol
2026-08-10 20:02:52 -07:00
committed by GitHub
parent eecff73850
commit b5b156825d
1 changed files with 2 additions and 2 deletions
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openpilot/selfdrive/ui/mici/onroad/driver_state.py
+2 -2
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@@ -169,8 +169,8 @@ class DriverStateRenderer(Widget):
self._is_rhd = dm_state.isRHD
self._face_detected = dm_state.visionPolicyState.faceDetected
self._awareness_unfull = self.effective_active and dm_state.visionPolicyState.awarenessPercent < self.AWARENESS_UNFULL_PERCENT
self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
self._face_yaw = -dm_state.visionPolicyState.pose.yaw # undo sign flip in face_orientation_from_model to match UI convention
self._face_pitch = dm_state.visionPolicyState.pose.pitch + math.radians(6) # calib or DM pose is not accurate, add a fake upward pitch to bias forward
self._face_yaw = dm_state.visionPolicyState.pose.yaw * (1 if self._is_rhd else -1) # undo sign flip in face_orientation_from_model to match UI convention
driverstate = sm["driverStateV2"]
driver_data = driverstate.rightDriverData if self._is_rhd else driverstate.leftDriverData