mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-11-06 04:23:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

safety: integer math for the RX check lag threshold (#3869)

Browse Source
This commit is contained in:
Adeeb Shihadeh
2026-11-02 20:16:39 +00:00
committed by firestar5683
parent fb72658c89
commit ccf112fb9c
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo/opendbc/safety/safety.h
+2 -2
View File
@@ -401,8 +401,8 @@ void safety_tick(void) {
// Quite conservative to not risk false triggers.
// 2s of lag is worse case, since the function is called at 1Hz
uint32_t frequency = current_safety_config.rx_checks[i].msg[current_safety_config.rx_checks[i].status.index].frequency;
uint32_t timestep = 1e6 / frequency;
bool lagging = elapsed_time > SAFETY_MAX(timestep * MAX_MISSED_MSGS, 1e6);
uint32_t timestep = 1000000U / SAFETY_MAX(frequency, 1U); // frequency < 10Hz is invalid below
bool lagging = elapsed_time > SAFETY_MAX(timestep * MAX_MISSED_MSGS, 1000000U);
current_safety_config.rx_checks[i].status.lagging = lagging;
// enforce minimum frequency for safety-relevant messages