leave the flippening to another PR

commaai · Dec 28, 2021 · 5d090a3 · 5d090a3
1 parent 8b665ce
commit 5d090a3
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -605,8 +605,8 @@ def publish_logs(self, CS, start_time, actuators, lac_log):
       left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
       l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1]
       r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1]
-      l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 - CAMERA_OFFSET))
-      r_lane_close = right_lane_visible and (self.sm['modelV2'].laneLines[2].y[0] < (1.08 + CAMERA_OFFSET))
+      l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET))
+      r_lane_close = right_lane_visible and (self.sm['modelV2'].laneLines[2].y[0] < (1.08 - CAMERA_OFFSET))
 
       CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
       CC.hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)

diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
@@ -9,11 +9,11 @@
 
 TRAJECTORY_SIZE = 33
 # model path is 0.06 m left of car center
-MODEL_PATH_OFFSET = -0.06
+MODEL_PATH_OFFSET = 0.06
 if EON:
-  CAMERA_OFFSET = -0.06
+  CAMERA_OFFSET = 0.06
 elif TICI:
-  CAMERA_OFFSET = 0.04
+  CAMERA_OFFSET = -0.04
 else:
   CAMERA_OFFSET = 0.0
 
@@ -39,7 +39,7 @@ def __init__(self, wide_camera=False):
     self.r_lane_change_prob = 0.
 
     self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
-    self.path_offset = MODEL_PATH_OFFSET - self.camera_offset
+    self.path_offset = self.camera_offset - MODEL_PATH_OFFSET
 
   def parse_model(self, md):
     if len(md.laneLines) == 4 and len(md.laneLines[0].t) == TRAJECTORY_SIZE: