first

selfdrive/controls/controlsd.py

@@ -85,10 +85,10 @@ class Controls:
     ignore = self.sensor_packets + ['testJoystick']
     if SIMULATION:
       ignore += ['driverCameraState', 'managerState']
-    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+    self.sm = messaging.SubMaster(['carState', 'deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'carState', 'testJoystick'] + self.camera_packets + self.sensor_packets,
+                                   'testJoystick'] + self.camera_packets + self.sensor_packets,
                                   poll='carState',
                                   ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
 
@@ -110,7 +110,6 @@ class Controls:
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
-    self.CC = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
     self.AM = AlertManager()
     self.events = Events()
@@ -806,9 +805,6 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # copy CarControl to pass to CarInterface on the next iteration
-    self.CC = CC
-
   def step(self):
     start_time = time.monotonic()
 

selfdrive/test/test_onroad.py

@@ -36,8 +36,8 @@ CPU usage budget
 MAX_TOTAL_CPU = 250.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 2.0,
-  "selfdrive.car.card": 2.0,
+  "selfdrive.controls.controlsd": 32.0,
+  "selfdrive.car.card": 22.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,