From 3c58d5f5272a52ec9ebdd6fa9900955bcf33673f Mon Sep 17 00:00:00 2001 From: royjr Date: Wed, 15 Jul 2026 18:51:26 -0400 Subject: [PATCH] fixes --- opendbc_repo | 2 +- selfdrive/ui/sunnypilot/onroad/radar_tracks.py | 5 +++-- selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py | 4 ++-- 3 files changed, 6 insertions(+), 5 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 870f393fd4..cbc9fe4e5f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 870f393fd42cd92aa6e3513c2eb061adc382287a +Subproject commit cbc9fe4e5f0a25ccc044608dbe697bca1e837961 diff --git a/selfdrive/ui/sunnypilot/onroad/radar_tracks.py b/selfdrive/ui/sunnypilot/onroad/radar_tracks.py index 4a843e6749..047a7c178e 100644 --- a/selfdrive/ui/sunnypilot/onroad/radar_tracks.py +++ b/selfdrive/ui/sunnypilot/onroad/radar_tracks.py @@ -144,6 +144,8 @@ class RadarTracks: d_rel, y_rel, v_rel = track.dRel, track.yRel, track.vRel if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel)): continue + if radar_track_is_stationary(v_rel, v_ego): + continue pt = map_to_screen(d_rel, -y_rel, path_offset_z) if pt is None: @@ -151,8 +153,7 @@ class RadarTracks: x, y = pt[0] + screen_offset[0], pt[1] + screen_offset[1] color = radar_track_color(v_rel, v_ego) - stationary = radar_track_is_stationary(v_rel, v_ego) - radius = max(1, track_size - 4) if stationary else track_size + radius = track_size track_id = int(track.trackId) highlight_color = highlighted_tracks.get(track_id) if highlight_color is not None: diff --git a/selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py b/selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py index 821d700a9e..fcc394bc00 100644 --- a/selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py +++ b/selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py @@ -94,7 +94,7 @@ def test_draw_radar_tracks_allows_unknown_acceleration(monkeypatch): assert drawn_colors == [color_tuple(radar_track_color(-5))] -def test_draw_radar_tracks_shrinks_stationary_dots(monkeypatch): +def test_draw_radar_tracks_hides_stationary_dots(monkeypatch): live_tracks = car.RadarData.new_message() point = live_tracks.init("points", 1)[0] point.dRel = 10 @@ -108,7 +108,7 @@ def test_draw_radar_tracks_shrinks_stationary_dots(monkeypatch): live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2, track_size=6, v_ego=20, ) - assert drawn_sizes == [2] + assert drawn_sizes == [] def test_draw_radar_tracks_keeps_matched_speed_dots_large(monkeypatch):