From d9c22bfa4c43c601ea43dcea4ad86aa1490ec887 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 31 Jan 2023 01:13:39 -0800 Subject: [PATCH] comment to remind me tmrw --- selfdrive/car/gm/carcontroller.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 2711b7bebc..dd6be0d084 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -51,6 +51,7 @@ class CarController: # Steering (50Hz: active, syncing with camera, 10Hz: inactive) # 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 + # Send at 50Hz until we're sending right before camera sends LKAS message out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4 steer_step = self.params.INACTIVE_STEER_STEP if CC.latActive or init_lka_counter or out_of_sync: