revert peripheral

2 years ago · 2c99c19eb1
parent 89ed0d6538
commit 2c99c19eb1
2 changed files with 6 additions and 3 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit abf03ffdec592e8b7a1c0d77e23fddb9e9b2ddd5
+Subproject commit 9ede52e835f2e6b7c263218592fc7deb20ff436f
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -476,8 +476,11 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
  RateKeeper rk("panda_state_thread", 10);

  while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState
-    send_peripheral_state(&pm, peripheral_panda);
+    if (sm.frame % 5 == 0) {
+      // send out peripheralState at 2Hz
+      send_peripheral_state(&pm, peripheral_panda);
+    }
+
    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);

    if (!ignition_opt) {