Fix blank mdMonoTime and controlsStateMonoTime in radard
parent
38f0846b64
commit
2ecc7d9f6f
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@ -91,9 +91,6 @@ class RadarD():
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self.tracks = defaultdict(dict)
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self.kalman_params = KalmanParams(radar_ts)
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self.last_md_ts = 0
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self.last_controls_state_ts = 0
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self.active = 0
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# v_ego
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@ -165,10 +162,10 @@ class RadarD():
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# *** publish radarState ***
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dat = messaging.new_message('radarState')
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dat.valid = sm.all_alive_and_valid(service_list=['controlsState', 'model'])
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dat.radarState.mdMonoTime = self.last_md_ts
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dat.radarState.mdMonoTime = sm.logMonoTime['model']
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dat.radarState.canMonoTimes = list(rr.canMonoTimes)
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dat.radarState.radarErrors = list(rr.errors)
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dat.radarState.controlsStateMonoTime = self.last_controls_state_ts
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dat.radarState.controlsStateMonoTime = sm.logMonoTime['controlsState']
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if has_radar:
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dat.radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, sm['model'].lead, low_speed_override=True)
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