From 4a094ef56f07fb1226b13636bffa17614131e9ed Mon Sep 17 00:00:00 2001
From: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Date: Thu, 8 May 2025 22:19:35 -0700
Subject: [PATCH] Models: Enable support for liveDelay in modeld_v2 (#879)

Enable support for liveDelay in modeld_v2
---
 sunnypilot/modeld_v2/modeld.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index 9a90e21cb..e0f38c59a 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -26,6 +26,7 @@ from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
 from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
+LAT_SMOOTH_SECONDS = 0.0
 
 
 class FrameMeta:
@@ -163,7 +164,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -188,8 +189,8 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  # Enable lagd support for modeld_v2
+  steer_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
 
   DH = DesireHelper()