From b9e0c2936b7e8c2ee68432cfee1ac0e30504c877 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 May 2023 13:57:11 -0700 Subject: [PATCH] controlsd: check for self lagging in radar alert old-commit-hash: e889e09513f5c241dcc53c936966b22e3fe7d9e7 --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f62ea0672..959740d97 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -337,7 +337,7 @@ class Controls: self.events.add(EventName.cameraFrameRate) if not REPLAY and self.rk.lagging: self.events.add(EventName.controlsdLagging) - if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']): + if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError)