Fix steering arc artifacts (#36707)

* fix arc artifacts * works but how * also this * Revert "also this" This reverts commit e8d5ed9af15568dcb178dd6da7a14d2c6191010e. * clean up * nl * clean up * more * print * print
2025-11-27 04:16:38 -08:00
parent 3959200a5b
commit ce596424cf
1 changed files with 3 additions and 0 deletions
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -130,6 +130,9 @@ def arc_bar_pts(cx: float, cy: float,

  pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)

+  # Rotate to start from middle of cap for proper triangulation
+  pts = np.roll(pts, cap_segs, axis=0)
+
  if DEBUG:
    n = len(pts)
    idx = int(time.monotonic() * 12) % max(1, n)  # speed: 12 pts/sec