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annotate radar fields #38347

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Merged
adeebshihadeh merged 1 commit into from
Jul 15, 2026
+7 −7
Merged

annotate radar fields #38347

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14 changes: 7 additions & 7 deletions openpilot/cereal/log.capnp
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Original file line number Diff line number Diff line change
Expand Up @@ -711,15 +711,15 @@ struct RadarState @0x9a185389d6fdd05f {
leadTwo @4 :LeadData;

struct LeadData {
dRel @0 :Float32;
yRel @1 :Float32;
vRel @2 :Float32;
vLead @4 :Float32;
dRel @0 :Float32; # m from the front bumper of the car
yRel @1 :Float32; # m in car frame, left positive
vRel @2 :Float32; # m/s relative longitudinal speed
vLead @4 :Float32; # m/s absolute lead speed
vLeadK @8 :Float32; # kalman-filtered lead speed
aLeadK @9 :Float32; # kalman-filtered lead accel
present @11 :Bool;
aLeadTau @12 :Float32;
modelProb @13 :Float32;
present @11 :Bool; # true if a lead is present
aLeadTau @12 :Float32; # lead accel time constant
modelProb @13 :Float32; # vision model lead probability
radar @14 :Bool; # true if lead is radar-matched (vs vision-only)
radarTrackId @15 :Int32 = -1; # for debugging

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