From 75adb2d076318702d240922cde01a2b45af571fa Mon Sep 17 00:00:00 2001 From: Lukas Petersson Date: Thu, 17 Mar 2022 15:27:56 -0700 Subject: [PATCH] frameId in long/lat planner --- selfdrive/controls/lib/lateral_planner.py | 1 + selfdrive/controls/lib/longitudinal_planner.py | 1 + 2 files changed, 2 insertions(+) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index a9c641139..342832708 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -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() diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index fd7614236..4b290bd95 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -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']