use multiplication more

suggested by twilsonco
commaai · Jan 12, 2023 · 2ea299b · 2ea299b
1 parent 0317915
commit 2ea299b
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py
@@ -133,9 +133,9 @@ def get_RadarState(self, model_prob=0.0):
   def get_RadarState_from_vision(self, lead_msg, v_ego, vision_v_ego):
     # Learn vision model velocity error to correct vlead and alead
     if v_ego > 0 and vision_v_ego > 0:
-      vision_velocity_error = vision_v_ego / v_ego
-      corrected_v_lead = lead_msg.v[0] / vision_velocity_error
-      corrected_a_lead = lead_msg.a[0] / vision_velocity_error
+      vision_velocity_factor = v_ego / vision_v_ego
+      corrected_v_lead = lead_msg.v[0] * vision_velocity_factor
+      corrected_a_lead = lead_msg.a[0] * vision_velocity_factor
       #if no v_ego or vision_v_ego set, fallback to uncalibrated values
     else: 
       corrected_v_lead = lead_msg.v[0]