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Bug Fix

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pull/36019/head
Candy0707 3 months ago
parent 269f15140c
commit 104a927192
1 changed files with 4 additions and 4 deletions
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  1. 8
      selfdrive/controls/controlsd.py

8
selfdrive/controls/controlsd.py
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@ -160,10 +160,10 @@ class Controls:
hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1 hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1
hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual
desire_prediction = model_v2.meta.desirePrediction LaneVisible = len(model_v2.laneLines) > 2 and len(model_v2.laneLineProbs) > 2
if len(desire_prediction): hudControl.leftLaneVisible = bool(LaneVisible and model_v2.laneLines[1] and model_v2.laneLineProbs[1] > 0.5)
hudControl.leftLaneVisible = bool(model_v2.laneLines[1] and model_v2.laneLineProbs[1] > 0.5) hudControl.rightLaneVisible = bool(LaneVisible and model_v2.laneLines[2] and model_v2.laneLineProbs[2] > 0.5)
hudControl.rightLaneVisible = bool(model_v2.laneLines[2] and model_v2.laneLineProbs[2] > 0.5)
if self.sm.valid['driverAssistance']: if self.sm.valid['driverAssistance']:
hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture

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