only mark main lead as important in IC (white vs gray car with ACC/PCC)

SippieCup · Oct 30, 2019 · da8f168 · da8f168
1 parent 4a89b86
commit da8f168
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
@@ -90,12 +90,13 @@ def create_DAS_LR_object_msg(lane,v1Class,v1Id,v1Dx,v1Dy,v1V,v2Class,v2Id,v2Dx,v
   important1 = 0
   important2 = 0
   if (v1Dx > 0) and (v1Id >= 0):
-    important1 = 1
+    if lane == 0:
+      important1 = 1
     v1Class += 1
     if v1Class == 4:
       v1Class = 5
   if (v2Dx > 0) and (v2Id >= 0):
-    important2 = 1
+    #important2 = 1
     v2Class += 1
     if v2Class == 4:
       v2Class = 5