From 674992cf85d41ea6a2b0587f1a344854048a1912 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Jul 2025 20:40:10 -0700 Subject: [PATCH] import --- selfdrive/controls/controlsd.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index b5d4258d75..741cf5c79d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -19,6 +19,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, S from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose +from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert State = log.SelfdriveState.OpenpilotState LaneChangeState = log.LaneChangeState @@ -163,8 +164,8 @@ class Controls: hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1 hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual - if check_lateral_iso_violation(sm): - set_offroad_alert_if_changed("Offroad_ViolatedIsoLimits", True) + if check_lateral_iso_violation(self.sm): + set_offroad_alert("Offroad_ViolatedIsoLimits", True) hudControl.rightLaneVisible = True hudControl.leftLaneVisible = True