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fix(accel-controller): use current radar lead field

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rav4kumar
2026-08-04 21:08:41 -07:00
committed by rav4kumar
parent 314bd78a30
commit 87d8db4e44
2 changed files with 4 additions and 4 deletions
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openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/lead.py
+3 -3
View File
@@ -46,7 +46,7 @@ def is_lead_source(source) -> bool:
def has_radar_lead(radar_state) -> bool:
return bool(radar_state.leadOne.status or radar_state.leadTwo.status)
return bool(radar_state.leadOne.present or radar_state.leadTwo.present)
def _project_ego(v_ego: float, a_ego: float, delay: float) -> tuple[float, float]:
@@ -59,7 +59,7 @@ def _project_ego(v_ego: float, a_ego: float, delay: float) -> tuple[float, float
def _lead_values(lead) -> tuple[float, float, float, float] | None:
if not lead.status:
if not lead.present:
return None
d_rel, v_lead = float(lead.dRel), float(lead.vLeadK)
if not math.isfinite(d_rel) or d_rel < 0.0 or not math.isfinite(v_lead) or v_lead < MIN_LEAD_SPEED:
@@ -80,7 +80,7 @@ def calculate_lead_plan(radar_state, v_ego: float, a_ego: float, delay: float, p
return LeadPlan()
leads = (radar_state.leadOne, radar_state.leadTwo)
lead_status = any(lead.status for lead in leads)
lead_status = any(lead.present for lead in leads)
t_follow = get_T_FOLLOW(follow_personality)
if not math.isfinite(t_follow) or t_follow < 0.0:
return LeadPlan(lead_status=lead_status)
openpilot/sunnypilot/selfdrive/controls/lib/accel_controller/tests/test_accel_controller.py
+1 -1
View File
@@ -22,7 +22,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.accel_controller.lead import Le
def make_lead(*, status=False, d_rel=0.0, v_lead_k=0.0, a_lead_k=0.0, a_lead_tau=1.5, radar_track_id=-1):
return SimpleNamespace(status=status, dRel=d_rel, vLeadK=v_lead_k, aLeadK=a_lead_k, aLeadTau=a_lead_tau,
return SimpleNamespace(present=status, dRel=d_rel, vLeadK=v_lead_k, aLeadK=a_lead_k, aLeadTau=a_lead_tau,
radarTrackId=radar_track_id)