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selfdrive/ui/qt/onroad.cc

@@ -539,9 +539,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   const float dsp = sm["modelV2"].getModelV2().getMeta().getDisengagePredictions().getSteerOverrideProbs()[4];
 
   float cont10 = (1 - dbp) * (1 - dgp) * (1 - dsp);
-  float cont60 = pow(cont10, 6.0);
-  float cont600 = pow(cont10, 60.0);
-  float dhue = cont60 < 0.25 ? (10 + 200*cont60) : (cont600 < 0.01 ? (60 + 5000*cont600) : (110));
+  float dhue = cont10 < 0.8 ? (10 + 62.5*cont10) : (cont10 < 0.925 ? (60 + 400*(cont10-0.8)) : (110));
   bg.setColorAt(0.0, QColor::fromHslF(dhue / 360., 1.0, 0.6, 0.35));
   bg.setColorAt(1.0, QColor::fromHslF(dhue / 360., 1.0, 0.6, 0.35));