radard/update: optimize capnp (commaai#23380)

budney · Jan 4, 2022 · 7b612d4 · 7b612d4
1 parent c70fc7d
commit 7b612d4
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
@@ -172,9 +172,10 @@ def update(self, sm, rr, enable_lead):
     radarState.carStateMonoTime = sm.logMonoTime['carState']
 
     if enable_lead:
-      if len(sm['modelV2'].leadsV3) > 1:
-        radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[0], low_speed_override=True)
-        radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, sm['modelV2'].leadsV3[1], low_speed_override=False)
+      leads_v3 = sm['modelV2'].leadsV3 
+      if len(leads_v3) > 1:
+        radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
+        radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
     return dat