diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index a50980f92d..c25de41769 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -50,13 +50,14 @@ class CarController: # Steering (Active: 50Hz, inactive: 10Hz) # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked - init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera + init_lka_counter = not self.sent_lka_steering_cmd # Also send at 50Hz until we're in sync with camera so counters align when relay closes, preventing a fault # openpilot can subtly drift, so this is activated throughout a drive to stay synced out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4 + sync_steer = (init_lka_counter or out_of_sync) and self.CP.networkLocation == NetworkLocation.fwdCamera steer_step = self.params.INACTIVE_STEER_STEP - if CC.latActive or init_lka_counter or out_of_sync: + if CC.latActive or sync_steer: steer_step = self.params.STEER_STEP # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the