mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-03 23:49:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

radar lag compensate

Browse Source
This commit is contained in:
royjr
2025-09-23 03:24:15 -04:00
parent 512a01d28c
commit ddb377ac5b
1 changed files with 6 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/qt/onroad/model.cc
+6 -2
View File
@@ -48,9 +48,13 @@ 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;
float y_pred = track.getYRel();
QPointF screen_pt;
if (mapToScreen(track.getDRel(), -track.getYRel(), path_offset_z, &screen_pt)) {
float radius = std::clamp(15.0f / (1.0f + track.getDRel() * 0.1f), 3.0f, 8.0f);
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);
drawRadarPoint(painter, screen_pt, track.getVRel(), radius * 3);
}
}