From 8ddf02e69bb197c7d32c140b06bfe7a81f09b7ca Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 27 May 2023 21:54:37 -0700 Subject: [PATCH] Ford: fix counter in LateralMotionControl2 message (#28328) old-commit-hash: de5e0d0c714ce8820c5bbd9dc7e981cc8f58bb03 --- selfdrive/car/ford/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index d9a9ae6bc0..5bdafa58b5 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -70,7 +70,7 @@ class CarController: if self.CP.carFingerprint in CANFD_CARS: # TODO: extended mode mode = 1 if CC.latActive else 0 - counter = self.frame // CarControllerParams.STEER_STEP + counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter)) else: can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))