From 7b612d47b66e09dfecdaebc60671231697592cf5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Jan 2022 09:26:32 +0800 Subject: [PATCH] radard/update: optimize capnp (#23380) --- selfdrive/controls/radard.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 1ed1a0dbff..d4b0733692 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -172,9 +172,10 @@ class RadarD(): radarState.carStateMonoTime = sm.logMonoTime['carState'] if enable_lead: - if len(sm['modelV2'].leadsV3) > 1: - radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[0], low_speed_override=True) - radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[1], low_speed_override=False) + leads_v3 = sm['modelV2'].leadsV3 + if len(leads_v3) > 1: + radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) + radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) return dat