From 348a2f0fc2a962db7b74fa3f291ef570b3c4815d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Feb 2025 00:01:00 -0800 Subject: [PATCH] don't update any params until CP is initialized --- selfdrive/selfdrived/selfdrived.py | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 0d780f0ad9..0b87a256e3 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -477,16 +477,15 @@ class SelfdriveD: def params_thread(self, evt): while not evt.is_set(): - self.is_metric = self.params.get_bool("IsMetric") - self.personality = self.read_personality_param() - - if not self.CP_initialized: + if self.CP_initialized: + self.is_metric = self.params.get_bool("IsMetric") + self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl + self.personality = self.read_personality_param() + else: CP = self.params.get("CarParams") if CP is not None: self.initialize_car_params(messaging.log_from_bytes(CP, car.CarParams)) cloudlog.info("selfdrived got CarParams") - else: - self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl time.sleep(0.1)