From a6de2a344bfdcf83a6a71f5f50a3f3859f859f96 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 8 May 2024 23:11:06 -0700 Subject: [PATCH] never works first time :D --- selfdrive/car/card.py | 6 +++--- selfdrive/controls/controlsd.py | 3 +-- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 3ef48716f0..4c115bde92 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -110,9 +110,9 @@ class Car: cs_send = messaging.new_message('carState') cs_send.valid = CS.canValid cs_send.carState = CS - cs_send.canRcvTimeout = self.can_rcv_timeout - cs_send.canErrorCounter = self.can_rcv_cum_timeout_counter - cs_send.cumLagMs = -self.rk.remaining * 1000. + cs_send.carState.canRcvTimeout = self.can_rcv_timeout + cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter + cs_send.carState.cumLagMs = -self.rk.remaining * 1000. self.pm.send('carState', cs_send) # carParams - logged every 50 seconds (> 1 per segment) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 96f2e39148..6d473b7bd1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -90,8 +90,7 @@ class Controls: 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'carState', 'testJoystick'] + self.camera_packets + self.sensor_packets, poll='carState', - ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ], - frequency=int(1/DT_CTRL)) + ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ]) self.joystick_mode = self.params.get_bool("JoystickDebugMode")