From 0102a1c704dcf3b5dc00e98fa1390a993507acb2 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 22 Apr 2025 00:03:06 -0400 Subject: [PATCH] DM: Use `carControl.latActive` for MADS DM monitoring (#845) --- selfdrive/monitoring/dmonitoringd.py | 2 +- selfdrive/monitoring/helpers.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index d0d28ebac..71733f99f 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -11,7 +11,7 @@ def dmonitoringd_thread(): params = Params() pm = messaging.PubMaster(['driverMonitoringState']) sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2', - 'selfdriveStateSP'], poll='driverStateV2') + 'carControl'], poll='driverStateV2') DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 0ff7a52a9..67776994f 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -403,13 +403,13 @@ class DriverMonitoring: driver_state=sm['driverStateV2'], cal_rpy=sm['liveCalibration'].rpyCalib, car_speed=sm['carState'].vEgo, - op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active + op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive ) # Update distraction events self._update_events( driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed, - op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active, + op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive, standstill=sm['carState'].standstill, wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park], car_speed=sm['carState'].vEgo