From 2825c00fcc72c30f4e8768e7e60c6db02513b1a0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 17 Oct 2025 22:53:31 -0400 Subject: [PATCH] controlsd: update lateral delay param in a separate thread (#1402) --- selfdrive/controls/controlsd.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3601ae310..1694afee2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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):