Bug fixes

common/params.cc

@@ -215,6 +215,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"dp_long_de2e", PERSISTENT},
     {"dp_long_personality_btn", PERSISTENT},
     {"dp_nav_full_screen", PERSISTENT},
+    {"dp_alka", PERSISTENT},
 };
 
 } // namespace

selfdrive/controls/controlsd.py

@@ -82,7 +82,7 @@ class Controls:
     self.branch = get_short_branch()
 
     # Setup sockets
-    self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents'])
+    self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents', 'controlsStateExt'])
 
     self.sensor_packets = ["accelerometer", "gyroscope"]
     self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]

selfdrive/controls/plannerd.py

@@ -17,7 +17,7 @@ def plannerd_thread():
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanExt'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 

system/manager/manager.py

@@ -48,6 +48,7 @@ def manager_init() -> None:
     ("dp_long_de2e", "0"),
     ("dp_long_personality_btn", "0"),
     ("dp_nav_full_screen", "0"),
+    ("dp_alka", "0"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.now(datetime.UTC).replace(tzinfo=None).isoformat().encode('utf8')))