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pull/27164/head
Shane Smiskol 2 years ago
parent 007aecefaa
commit c676e746ea
1 changed files with 1 additions and 1 deletions
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  1. 2
      selfdrive/car/gm/carcontroller.py

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selfdrive/car/gm/carcontroller.py
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@ -51,7 +51,7 @@ class CarController:
# Steering (Active: 50Hz, inactive: 10Hz) # Steering (Active: 50Hz, inactive: 10Hz)
# Attempt to sync with camera on startup at 50Hz, first few msgs are blocked # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked
init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera
# Also send at 50Hz until we're in sync with camera so counters align when relay closes, preventing fault # Also send at 50Hz until we're in sync with camera so counters align when relay closes, preventing a fault
# openpilot can subtly drift, so this is activated throughout a drive to stay synced # openpilot can subtly drift, so this is activated throughout a drive to stay synced
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4 out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4

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