retropilot/openpilot
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Only draw lead car indicators when controlling longitudinal (#1914)

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Adeeb Shihadeh 2020-07-23 13:28:58 -07:00 committed by GitHub
parent f753ca14ad
commit 61548f5a48
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 8 additions and 5 deletions
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13
selfdrive/ui/paint.cc
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@ -368,11 +368,14 @@ static void ui_draw_world(UIState *s) {
// Draw lane edges and vision/mpc tracks
ui_draw_vision_lanes(s);
if (scene->lead_data[0].getStatus()) {
draw_lead(s, scene->lead_data[0]);
}
if (scene->lead_data[1].getStatus() && (std::abs(scene->lead_data[0].getDRel() - scene->lead_data[1].getDRel()) > 3.0)) {
draw_lead(s, scene->lead_data[1]);
// Draw lead indicators if openpilot is handling longitudinal
if (s->longitudinal_control) {
if (scene->lead_data[0].getStatus()) {
draw_lead(s, scene->lead_data[0]);
}
if (scene->lead_data[1].getStatus() && (std::abs(scene->lead_data[0].getDRel() - scene->lead_data[1].getDRel()) > 3.0)) {
draw_lead(s, scene->lead_data[1]);
}
}
nvgRestore(s->vg);
}