Only draw lead car indicators when controlling longitudinal (#1914)

selfdrive/ui/paint.cc

@@ -368,11 +368,14 @@ static void ui_draw_world(UIState *s) {
   // Draw lane edges and vision/mpc tracks
   ui_draw_vision_lanes(s);
 
-  if (scene->lead_data[0].getStatus()) {
+  // Draw lead indicators if openpilot is handling longitudinal
-    draw_lead(s, scene->lead_data[0]);
+  if (s->longitudinal_control) {
-  }
+    if (scene->lead_data[0].getStatus()) {
-  if (scene->lead_data[1].getStatus() && (std::abs(scene->lead_data[0].getDRel() - scene->lead_data[1].getDRel()) > 3.0)) {
+      draw_lead(s, scene->lead_data[0]);
-    draw_lead(s, scene->lead_data[1]);
+    }
+    if (scene->lead_data[1].getStatus() && (std::abs(scene->lead_data[0].getDRel() - scene->lead_data[1].getDRel()) > 3.0)) {
+      draw_lead(s, scene->lead_data[1]);
+    }
   }
   nvgRestore(s->vg);
 }