From edb6a48649a00f46caf320a09c255051b45c7b43 Mon Sep 17 00:00:00 2001
From: neon-dev <1169307+neon-dev@users.noreply.github.com>
Date: Thu, 7 Nov 2019 13:16:32 +0100
Subject: [PATCH] show cars in IC for non-radar users (#120)

---
 selfdrive/controls/radard.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 8d66b4f71..5a0db865d 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -72,7 +72,10 @@ def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True,use_tesla
     cluster = None
 
   lead_dict = {'status': False}
-  lead_dict_ext = {'trackId': 1, 'oClass': 0, 'length': 0.}
+  lead_dict_ext = {'trackId': 1, 'oClass': 1, 'length': 0.}
+  # temporary for development purposes: we set the default lead vehicle type to truck (=0) to distinguish between vision (truck) and radar leads (car) in IC
+  if use_tesla_radar:
+    lead_dict_ext.oClass = 0
   if cluster is not None:
     lead_dict,lead_dict_ext = cluster.get_RadarState(lead_msg.prob)
   elif (cluster is None) and ready and (lead_msg.prob > .5):