cleanup

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -25,7 +25,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   // update engageability/experimental mode button
   experimental_btn->updateState(s);
   dmon.updateState(s);
-
   if (s.scene.visual_style == 0) {
     setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
   } else {

selfdrive/ui/qt/onroad/model.cc

@@ -125,8 +125,7 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
   if (s->scene.visual_style == 2) {
     QRectF r = clip_region;
 
-    // --- Find horizon from road edges ---
-    qreal horizonY = r.bottom();  // fallback
+    qreal horizonY = r.bottom();
     if (!road_edge_vertices[0].isEmpty() || !road_edge_vertices[1].isEmpty()) {
       qreal leftH  = r.top();
       qreal rightH = r.top();
@@ -145,20 +144,11 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
         }
       }
 
-      // Pick the lower (visually deeper) horizon to ensure no gaps
       horizonY = std::max(leftH, rightH);
     }
 
-
-    // --- Background ---
-    // Fill above horizon: pure black
-    // painter.fillRect(QRectF(r.left(), r.top(), r.width(), horizonY - 100), QColor("#000000"));
-
-
-    // Fill below horizon: solid dark gray
     painter.fillRect(QRectF(r.left(), horizonY + 0, r.width(), r.bottom() - (horizonY + 0)), QColor("#111111"));
 
-
     auto buildFill = [&](const QPolygonF &edgeRibbon, bool isLeftSide) -> QPolygonF {
       if (edgeRibbon.isEmpty()) return {};
 
@@ -197,7 +187,6 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
       return fill;
     };
 
-    // Left and right fills
     QPolygonF leftFill  = buildFill(road_edge_vertices[0], true);
     QPolygonF rightFill = buildFill(road_edge_vertices[1], false);
 
@@ -210,19 +199,16 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
       painter.drawPolygon(rightFill);
     }
 
-    // lanelines
     for (int i = 0; i < std::size(lane_line_vertices); ++i) {
       painter.setBrush(QColor::fromRgbF(0.902, 0.902, 0.902, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
       painter.drawPolygon(lane_line_vertices[i]);
     }
 
-    // road edges
     for (int i = 0; i < std::size(road_edge_vertices); ++i) {
       painter.setBrush(QColor(0x55, 0x55, 0x55, 255));
       painter.drawPolygon(road_edge_vertices[i]);
     }
 
-    // Gradient band across horizon
     QLinearGradient bgGrad(r.left(), horizonY - 100, r.left(), horizonY + 100);
     bgGrad.setColorAt(0.0, QColor("#000000"));  // top of band
     bgGrad.setColorAt(0.5, QColor("#111111"));  // middle blend
@@ -578,8 +564,8 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
     normal_view = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
   }
 
-  const float base_scale_x = 20.0f;  // in/out 20 (far/fast) 100 (close/slow)
-  const float base_scale_y = 15.0f;  // squish (was 20.0f)
+  const float base_scale_x = 20.0f;
+  const float base_scale_y = 15.0f;
   const float y_offset = 450.0f;
 
   float factor_scale_x = 0.0f;
@@ -609,14 +595,12 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
     const float hysteresis = 5.0f;
 
     if (!inverted) {
-      // Normal: 3D → 2D as speed increases
       if (target_blend < 0.5f && blend_speed_mph > threshold) {
         target_blend = 1.0f;
       } else if (target_blend > 0.5f && blend_speed_mph < threshold - hysteresis) {
         target_blend = 0.0f;
       }
     } else {
-      // Inverted: 3D → 2D as speed decreases
       if (target_blend < 0.5f && blend_speed_mph < threshold) {
         target_blend = 1.0f;
       } else if (target_blend > 0.5f && blend_speed_mph > threshold + hysteresis) {
@@ -628,7 +612,7 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
     double dt = (now - last_t) / 1000.0;
     last_t = now;
 
-    const float transition_time = 1.50f; // seconds for full morph
+    const float transition_time = 1.50f;
     float step = dt / transition_time;
 
     if (blend < target_blend) {

selfdrive/ui/qt/onroad/model.h

@@ -69,6 +69,5 @@ protected:
   QPointF lead_status_pos;
   QString lead_status_text;
   QColor lead_status_color;
-
   void drawRadarPoint(QPainter &painter, const QPointF &pos, float v_rel, float radius = 5.0f);
 };

selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc

@@ -102,7 +102,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     param_watcher->addParam(param);
   }
 
-
   // Visuals: Radar Tracks Delay
   visual_radar_tracks_delay_settings = new OptionControlSP("VisualRadarTracksDelay", tr("Adjust Visual Radar Tracks Delay"),
                                       tr("Delays radar tracks to better match what you see through the camera."),
@@ -118,7 +117,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
 
   list->addItem(visual_radar_tracks_delay_settings);
 
-
   // Wide Cam
   std::vector<QString> visual_wide_cam_settings_texts{tr("Auto"), tr("On"), tr("Off")};
   visual_wide_cam_settings = new ButtonParamControlSP(
@@ -128,7 +126,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     250);
   list->addItem(visual_wide_cam_settings);
 
-
   // Visual Style
   std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
   visual_style_settings = new ButtonParamControlSP(
@@ -138,7 +135,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     380);
   list->addItem(visual_style_settings);
 
-
   // Visual Style Zoom
   std::vector<QString> visual_style_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
   visual_style_zoom_settings = new ButtonParamControlSP(
@@ -148,7 +144,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     380);
   list->addItem(visual_style_zoom_settings);
 
-
   // Visual Style Overhead
   std::vector<QString> visual_style_overhead_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
   visual_style_overhead_settings = new ButtonParamControlSP(
@@ -158,7 +153,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     380);
   list->addItem(visual_style_overhead_settings);
 
-
   // Visual Style Overhead Zoom
   std::vector<QString> visual_style_overhead_zoom_settings_texts{tr("Disabled"), tr("Enabled"), tr("Inverted")};
   visual_style_overhead_zoom_settings = new ButtonParamControlSP(
@@ -168,7 +162,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
     380);
   list->addItem(visual_style_overhead_zoom_settings);
 
-
   // Visual Style Overhead Threshold
   visual_style_overhead_threshold_settings = new OptionControlSP("VisualStyleOverheadThreshold", tr("Visual Style Overhead Threshold"),
                                       tr("todo"),
@@ -184,7 +177,6 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
 
   list->addItem(visual_style_overhead_threshold_settings);
 
-
   // Visuals: Display Metrics below Chevron
   std::vector<QString> chevron_info_settings_texts{tr("Off"), tr("Distance"), tr("Speed"), tr("Time"), tr("All")};
   chevron_info_settings = new ButtonParamControlSP(