model lag warning (#2608)

old-commit-hash: 2d7a194f9fd5e5b26b55e3aa9e33efc95c97be6e

selfdrive/controls/controlsd.py

@@ -232,10 +232,13 @@ class Controls:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
-    if self.sm['model'].frameDropPerc > 2 and not SIMULATION:
-       self.events.add(EventName.modeldLagging)
     if not self.sm.alive['frontFrame'] and (self.sm.frame > 5 / DT_CTRL) and not SIMULATION:
-       self.events.add(EventName.cameraMalfunction)
+      self.events.add(EventName.cameraMalfunction)
+
+    if self.sm['model'].frameDropPerc > 20 and not SIMULATION:
+      self.events.add(EventName.modeldLagging)
+    elif self.sm['model'].frameDropPerc > 2 and not SIMULATION:
+      self.events.add(EventName.modelLagWarning)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
     if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \

selfdrive/controls/lib/events.py

@@ -451,6 +451,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
   },
 
+  EventName.modelLagWarning: {
+    ET.WARNING: Alert(
+      "TAKE CONTROL",
+      "Driving Model Lagging",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
+  },
+
   EventName.fanMalfunction: {
     ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact Support"),
   },