plannerd: add frameId to uiPlan (#27573)

* plannerd: add frameId to uiPlan * update refs
2 years ago · 17b71b477e
parent 9ecf3e7c32
commit 17b71b477e
3 changed files with 3 additions and 2 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e
+Subproject commit 9888e0476c05069d46f273569467e4371b2d8690
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
  ui_send = messaging.new_message('uiPlan')
  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
  uiPlan = ui_send.uiPlan
  uiPlan.frameId = sm['modelV2'].frameId
  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-f9c7e05b836c4bff364978752e82d64b90f9d6e6
+3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f
		`@ -1 +1 @@`
			`Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e`				`Subproject commit 9888e0476c05069d46f273569467e4371b2d8690`
		`@ -1 +1 @@`
			`f9c7e05b836c4bff364978752e82d64b90f9d6e6`				`3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f`