diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 6a562d37c5..1ee0b93d2f 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -571,9 +571,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { static float last_lead_distance = -1; const float lead_distance = radar_state.getLeadOne().getDRel(); - if (!s.scene.e2e_long_alert_ui) { - e2eLStatus = 0; - } else if (s.scene.e2eX[12] > 30 && car_state.getVEgo() < 1.0) { + if (s.scene.e2eX[12] > 30 && car_state.getVEgo() < 1.0) { e2eLStatus = 2; } else if ((s.scene.e2eX[12] > 0 && s.scene.e2eX[12] < 80) || s.scene.e2eX[12] < 0) { e2eLStatus = 1; @@ -601,7 +599,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { if (radar_state.getLeadOne().getStatus()) { if ((last_lead_distance == -1) || (lead_distance < last_lead_distance)) { last_lead_distance = lead_distance; - } else if (s.scene.e2e_long_alert_lead && (lead_distance - last_lead_distance > 1.0) && !chime_sent) { + } + if (s.scene.e2e_long_alert_lead && (lead_distance - last_lead_distance > 1.0) && !chime_sent) { chime_prompt = 2; chime_sent = true; } else {