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Ford: fix counter in LateralMotionControl2 message (#28328)

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old-commit-hash: de5e0d0c71
beeps
Cameron Clough 2 years ago committed by GitHub
parent 000db65838
commit 8ddf02e69b
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/car/ford/carcontroller.py

2
selfdrive/car/ford/carcontroller.py
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@ -70,7 +70,7 @@ class CarController:
if self.CP.carFingerprint in CANFD_CARS: if self.CP.carFingerprint in CANFD_CARS:
# TODO: extended mode # TODO: extended mode
mode = 1 if CC.latActive else 0 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)) can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
else: else:
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))

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