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controlsd: update lateral delay param in a separate thread (#1402)

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This commit is contained in:
Jason Wen
2025-10-17 22:53:31 -04:00
committed by GitHub
parent 063aa994d2
commit 2825c00fcc
1 changed files with 3 additions and 1 deletions
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selfdrive/controls/controlsd.py
+3 -1
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@@ -99,7 +99,6 @@ class Controls(ControlsExt, ModelStateBase):
self.LaC.extension.update_model_v2(self.sm['modelV2'])
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
self.LaC.extension.update_lateral_lag(self.lat_delay)
long_plan = self.sm['longitudinalPlan']
@@ -234,6 +233,9 @@ class Controls(ControlsExt, ModelStateBase):
while not evt.is_set():
self.get_params_sp()
if self.CP.lateralTuning.which() == 'torque':
self.lat_delay = get_lat_delay(self.params, self.sm["liveDelay"].lateralDelay)
time.sleep(0.1)
def run(self):