Bug Fix

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