From 9295066dac926c9f804bcb07b535bfec9a06cf11 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 4 Jan 2022 19:04:52 +0800
Subject: [PATCH] ui/get_path_length_idx:  line_x[i] shoud be less than or
 equal to path_height (#23336)

* start loop index from 1

* use  islessequal

* use build in <=
---
 selfdrive/ui/ui.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 3907daf6fa..4d795dcfd1 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -36,7 +36,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
 static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
   const auto line_x = line.getX();
   int max_idx = 0;
-  for (int i = 0; i < TRAJECTORY_SIZE && line_x[i] < path_height; ++i) {
+  for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) {
     max_idx = i;
   }
   return max_idx;