update frame drop filter (#2592)

selfdrive/controls/controlsd.py

@@ -232,7 +232,7 @@ class Controls:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
-    if self.sm['model'].frameDropPerc > 1 and not SIMULATION:
+    if self.sm['model'].frameDropPerc > 2 and not SIMULATION:
        self.events.add(EventName.modeldLagging)
     if not self.sm.alive['frontFrame'] and (self.sm.frame > 5 / DT_CTRL) and not SIMULATION:
        self.events.add(EventName.cameraMalfunction)

selfdrive/modeld/modeld.cc

@@ -147,7 +147,7 @@ int main(int argc, char **argv) {
 
     // setup filter to track dropped frames
     const float dt = 1. / MODEL_FREQ;
-    const float ts = 5.0;  // 5 s filter time constant
+    const float ts = 10.0;  // filter time constant (s)
     const float frame_filter_k = (dt / ts) / (1. + dt / ts);
     float frames_dropped = 0;