From 0dd9c8c08d59e00eae730738a34baaad2d44b69e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Oct 2024 00:02:42 -0700 Subject: [PATCH] make it a fixme --- opendbc/car/ford/radar_interface.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/opendbc/car/ford/radar_interface.py b/opendbc/car/ford/radar_interface.py index dbcf7a731c..01f1a18be2 100644 --- a/opendbc/car/ford/radar_interface.py +++ b/opendbc/car/ford/radar_interface.py @@ -219,9 +219,6 @@ def _update_delphi_mrr(self): # Indexes 0 and 2 have a max range of ~40m, 1 and 3 are ~170m (MRR_Header_SensorCoverage->CAN_RANGE_COVERAGE) # Indexes 0 and 1 have a Doppler coverage of +-71 m/s, 2 and 3 have +-60 m/s scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"] - i = (ii - 1) * 2 + (scanIndex - 2) - # if scanIndex not in (2, 3): - # continue # Throw out old measurements. Very unlikely to happen, but is proper behavior if scanIndex != headerScanIndex: @@ -270,7 +267,7 @@ def _update_delphi_mrr(self): vRel = [p[2] for p in pts] vRel = sum(vRel) / len(vRel) / 2 - # Creating RadarPoint and accessing attributes are both expensive, so we store a dataclass and re-use the RadarPoint + # FIXME: creating capnp RadarPoint and accessing attributes are both expensive, so we store a dataclass and re-use the RadarPoint self.clusters.append(Cluster(dRel=dRel, dRelClosest=min_dRel, yRel=yRel, vRel=vRel, trackId=track_id)) if idx not in self.pts: