radard/update: optimize capnp (#23380)

3 years ago · 7b612d47b6
parent c70fc7dbe5
commit 7b612d47b6
1 changed files with 4 additions and 3 deletions
--- 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:
+      leads_v3 = sm['modelV2'].leadsV3 
-        radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[0], low_speed_override=True)
+      if len(leads_v3) > 1:
-        radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[1], low_speed_override=False)
+        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