From 64d2ec38f290f7146af4196d240fb70cc11653b0 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 21 Apr 2021 10:59:26 +0200 Subject: [PATCH] Ignore radarState average frequency --- selfdrive/controls/controlsd.py | 3 ++- selfdrive/controls/plannerd.py | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f56c42bf..6d3cd388 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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: diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 85bbb7a0..a2c650fa 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -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'])