From 6f0c5834e7ae86ed72a2af6603248840df8a88ad Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 26 May 2020 17:53:55 -0700 Subject: [PATCH] Fix blank mdMonoTime and controlsStateMonoTime in radard old-commit-hash: 2ecc7d9f6f85818765da23cfac614d186111abb7 --- selfdrive/controls/radard.py | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 0b8523313..116968143 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -91,9 +91,6 @@ class RadarD(): self.tracks = defaultdict(dict) self.kalman_params = KalmanParams(radar_ts) - self.last_md_ts = 0 - self.last_controls_state_ts = 0 - self.active = 0 # v_ego @@ -165,10 +162,10 @@ class RadarD(): # *** publish radarState *** dat = messaging.new_message('radarState') dat.valid = sm.all_alive_and_valid(service_list=['controlsState', 'model']) - dat.radarState.mdMonoTime = self.last_md_ts + dat.radarState.mdMonoTime = sm.logMonoTime['model'] dat.radarState.canMonoTimes = list(rr.canMonoTimes) dat.radarState.radarErrors = list(rr.errors) - dat.radarState.controlsStateMonoTime = self.last_controls_state_ts + dat.radarState.controlsStateMonoTime = sm.logMonoTime['controlsState'] if has_radar: dat.radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['model'].lead, low_speed_override=True)