fix rate

3 years ago · 5097e942f7
parent 507df47dad
commit 5097e942f7
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -50,7 +50,7 @@ class CarController:
    if CS.loopback_lka_steering_cmd_updated:
      self.lka_steering_cmd_counter += 1
      self.sent_lka_steering_cmd = True
-    elif (self.frame - self.last_steer_frame) > steer_step:
+    elif (self.frame - self.last_steer_frame) >= steer_step or self.last_steer_frame == 0:
      # Initialize ASCMLKASteeringCmd counter using the camera
      if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera:
        self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1