From e0e288ff2f82a4c7b91bebe1b63ba1360b670fd7 Mon Sep 17 00:00:00 2001 From: Candy0707 Date: Wed, 20 Aug 2025 00:14:39 +0800 Subject: [PATCH] Bug Fix --- selfdrive/controls/controlsd.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 74dff61f52..ca656a9166 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -138,7 +138,8 @@ class Controls: def publish(self, CC, lac_log): CS = self.sm['carState'] - model = self.sm['model_v2'] + model_v2 = self.sm['modelV2'] + # Orientation and angle rates can be useful for carcontroller # Only calibrated (car) frame is relevant for the carcontroller @@ -159,8 +160,8 @@ class Controls: hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1 hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual - hudControl.rightLaneVisible = 1 if(model.LaneLines[2] and model.LaneLineProbs[2] > 0.5) else 0 - hudControl.leftLaneVisible = 1 if(model.LaneLines[1] and model.LaneLineProbs[1] > 0.5) else 0 + hudControl.rightLaneVisible = 1 if(model_v2.LaneLines[2] and model_v2.LaneLineProbs[2] > 0.5) else 0 + hudControl.leftLaneVisible = 1 if(model_v2.LaneLines[1] and model_v2.LaneLineProbs[1] > 0.5) else 0 if self.sm.valid['driverAssistance']: hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture