fix camera malfunction alert on startup

5 years ago · 159e5d40ea
parent 2065c026db
commit 159e5d40ea
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -237,7 +237,7 @@ class Controls:
      self.events.add(EventName.fcw)
    if self.sm['model'].frameDropPerc > 1 and not SIMULATION:
       self.events.add(EventName.modeldLagging)
-    if not self.sm.alive['frontFrame'] and not SIMULATION:
+    if not self.sm.alive['frontFrame'] and (self.sm.frame > 5 / DT_CTRL) and not SIMULATION:
       self.events.add(EventName.cameraMalfunction)

    # Only allow engagement with brake pressed when stopped behind another stopped car