update frame drop filter (#2592)

selfdrive/controls/controlsd.py

@@ -232,7 +232,7 @@ class Controls:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
-    if self.sm['model'].frameDropPerc > 1 and not SIMULATION:
+    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)

selfdrive/modeld/modeld.cc

@@ -147,7 +147,7 @@ int main(int argc, char **argv) {
 
     // setup filter to track dropped frames
     const float dt = 1. / MODEL_FREQ;
-    const float ts = 5.0;  // 5 s filter time constant
+    const float ts = 10.0;  // filter time constant (s)
     const float frame_filter_k = (dt / ts) / (1. + dt / ts);
     float frames_dropped = 0;
 
@@ -201,7 +201,7 @@ int main(int argc, char **argv) {
         // tracked dropped frames
         uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1;
         frames_dropped = (1. - frame_filter_k) * frames_dropped + frame_filter_k * (float)std::min(vipc_dropped_frames, 10U);
-        if (run_count < 10) frames_dropped = 0;    // let frame drops warm up
+        if (run_count < 10) frames_dropped = 0;  // let frame drops warm up
         float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
 
         model_publish(pm, extra.frame_id, frame_id,  vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);

selfdrive/modeld/models/driving.cc

@@ -368,7 +368,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
   // meta
   auto meta = framed.initMeta();
   fill_meta_v2(meta, net_outputs.meta);
-  
+
   // leads
   auto leads = framed.initLeads(LEAD_MHP_SELECTION);
   int mdn_max_idx = 0;