Change the key name

common/params_keys.h

@@ -71,7 +71,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
-    {"LiveLag", PERSISTENT},
+    {"LiveDelay", PERSISTENT},
     {"LiveParameters", PERSISTENT},
     {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},

selfdrive/locationd/lagd.py

@@ -278,7 +278,7 @@ class LateralLagEstimator:
 
 
 def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
-  last_lag_data = params_reader.get("LiveLag")
+  last_lag_data = params_reader.get("LiveDelay")
   last_carparams_data = params_reader.get("CarParamsPrevRoute")
 
   if last_lag_data is not None:
@@ -329,4 +329,4 @@ def main():
       pm.send('liveDelay', lag_msg_dat)
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
-        params_reader.put_nonblocking("LiveLag", lag_msg_dat)
+        params_reader.put_nonblocking("LiveDelay", lag_msg_dat)

selfdrive/locationd/test/test_lagd.py

@@ -59,7 +59,7 @@ class TestLagd:
     msg = messaging.new_message('liveDelay')
     msg.liveDelay.lateralDelayEstimate = random.random()
     msg.liveDelay.validBlocks = random.randint(1, 10)
-    params.put("LiveLag", msg.to_bytes())
+    params.put("LiveDelay", msg.to_bytes())
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
 
     saved_lag_params = retrieve_initial_lag(params, CP)