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Ignore radarState average frequency

albatross
Willem Melching 2021-04-21 10:59:26 +02:00
parent 836668f105
commit 64d2ec38f2
2 changed files with 3 additions and 2 deletions
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3
selfdrive/controls/controlsd.py
View File

@ -58,7 +58,8 @@ class Controls:
ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
self.sm = messaging.SubMaster(['deviceState', 'pandaState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'roadCameraState', 'driverCameraState', 'managerState', 'liveParameters', 'radarState'], ignore_alive=ignore)
'roadCameraState', 'driverCameraState', 'managerState', 'liveParameters', 'radarState'],
ignore_alive=ignore, ignore_avg_freq=['radarState'])
self.can_sock = can_sock
if can_sock is None:

2
selfdrive/controls/plannerd.py
View File

@ -25,7 +25,7 @@ def plannerd_thread(sm=None, pm=None):
if sm is None:
sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
poll=['radarState', 'modelV2'])
poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
if pm is None:
pm = messaging.PubMaster(['longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', 'liveMpc'])