From c796e0df0afd0da0fbdf184f5409cb8a97c1fe75 Mon Sep 17 00:00:00 2001 From: royjr Date: Wed, 15 Jul 2026 18:59:20 -0400 Subject: [PATCH] fixes --- selfdrive/ui/sunnypilot/onroad/radar_tracks.py | 5 ++--- selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py | 4 ++-- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/sunnypilot/onroad/radar_tracks.py b/selfdrive/ui/sunnypilot/onroad/radar_tracks.py index 047a7c178e..4a843e6749 100644 --- a/selfdrive/ui/sunnypilot/onroad/radar_tracks.py +++ b/selfdrive/ui/sunnypilot/onroad/radar_tracks.py @@ -144,8 +144,6 @@ 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: @@ -153,7 +151,8 @@ class RadarTracks: x, y = pt[0] + screen_offset[0], pt[1] + screen_offset[1] color = radar_track_color(v_rel, v_ego) - radius = track_size + stationary = radar_track_is_stationary(v_rel, v_ego) + radius = max(1, track_size - 4) if stationary else 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 fcc394bc00..821d700a9e 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_hides_stationary_dots(monkeypatch): +def test_draw_radar_tracks_shrinks_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_hides_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 == [] + assert drawn_sizes == [2] def test_draw_radar_tracks_keeps_matched_speed_dots_large(monkeypatch):