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controlsd: check for self lagging in radar alert

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This commit is contained in:
Adeeb Shihadeh
2023-05-15 13:57:11 -07:00
parent c192c92a4e
commit e889e09513
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/controlsd.py
+1 -1
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@@ -337,7 +337,7 @@ class Controls:
self.events.add(EventName.cameraFrameRate)
if not REPLAY and self.rk.lagging:
self.events.add(EventName.controlsdLagging)
if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
self.events.add(EventName.radarFault)
if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError)