mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-06 00:15:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

prepare for lag compensation

Browse Source
This commit is contained in:
royjr
2025-09-23 03:35:06 -04:00
parent ddb377ac5b
commit 8a5eaf5ba6
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/qt/onroad/model.cc
+5 -3
View File
@@ -48,10 +48,12 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
const auto &tracks = sm["liveTracks"].getLiveTracks().getPoints();
for (const auto &track : tracks) {
if (!std::isfinite(track.getDRel()) || !std::isfinite(track.getYRel())) continue;
const float t_lag = 0.5f; // seconds
float d_pred = track.getDRel() + track.getVRel() * t_lag;
d_pred += 0.5f * track.getARel() * t_lag * t_lag;
const float t_lag = 0.0f; // seconds
float d_pred = track.getDRel();
float y_pred = track.getYRel();
if (t_lag > 0.0f) {
d_pred += track.getVRel() * t_lag + 0.5f * track.getARel() * t_lag * t_lag;
}
QPointF screen_pt;
if (mapToScreen(d_pred, -y_pred, path_offset_z, &screen_pt)) {
float radius = std::clamp(15.0f / (1.0f + d_pred * 0.1f), 3.0f, 8.0f);