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frameId in long/lat planner

latency_logging_2
Lukas Petersson 2022-03-17 15:27:56 -07:00
parent ccfb061870
commit 75adb2d076
2 changed files with 2 additions and 0 deletions
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1
selfdrive/controls/lib/lateral_planner.py
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@ -103,6 +103,7 @@ class LateralPlanner:
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2'])
lateralPlan = plan_send.lateralPlan
lateralPlan.frameId = sm['modelV2'].frameId
lateralPlan.laneWidth = float(self.LP.lane_width)
lateralPlan.dPathPoints = self.y_pts.tolist()
lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()

1
selfdrive/controls/lib/longitudinal_planner.py
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@ -116,6 +116,7 @@ class Planner:
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState'])
longitudinalPlan = plan_send.longitudinalPlan
longitudinalPlan.frameId = sm['modelV2'].frameId
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']