calibrate only vlead

commaai · Jan 12, 2023 · f5608ca · f5608ca
1 parent 9ee255b
commit f5608ca
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py
@@ -131,22 +131,20 @@ 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
+    # Learn vision model velocity error to correct vlead
     if v_ego > 0 and vision_v_ego > 0:
       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]
-      corrected_a_lead = lead_msg.a[0]
     return {
       "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
       "yRel": float(-lead_msg.y[0]),
       "vRel": float(corrected_v_lead - v_ego),
       "vLead": float(corrected_v_lead),
       "vLeadK": float(corrected_v_lead),
-      "aLeadK": float(corrected_a_lead),
+      "aLeadK": float(lead_msg.a[0]),
       "aLeadTau": _LEAD_ACCEL_TAU,
       "fcw": False,
       "modelProb": float(lead_msg.prob),