From 5097e942f7df0d1c11ba60ed51ef2674ac1d5470 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Oct 2022 12:12:48 -0700 Subject: [PATCH] fix rate --- selfdrive/car/gm/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index d807386628..364bc3aeb7 100644 --- 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