controlsd: check for self lagging in radar alert

old-commit-hash: e889e09513
2 years ago · b9e0c2936b
parent b376a2dd63
commit b9e0c2936b
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -337,7 +337,7 @@ class Controls:
          self.events.add(EventName.cameraFrameRate)
    if not REPLAY and self.rk.lagging:
      self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
+    if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
      self.events.add(EventName.radarFault)
    if not self.sm.valid['pandaStates']:
      self.events.add(EventName.usbError)