From ddc8d371363226708c2eaab5c67323a266e9e34f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 17 Jun 2026 13:48:53 -0400 Subject: [PATCH] Desire keep pulsing is dead (#38187) --- selfdrive/controls/lib/desire_helper.py | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index ee4567f1e..659c0adc3 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -36,7 +36,6 @@ class DesireHelper: self.lane_change_direction = LaneChangeDirection.none self.lane_change_timer = 0.0 self.lane_change_ll_prob = 1.0 - self.keep_pulse_timer = 0.0 self.prev_one_blinker = False self.desire = log.Desire.none @@ -107,13 +106,3 @@ class DesireHelper: self.prev_one_blinker = one_blinker self.desire = DESIRES[self.lane_change_direction][self.lane_change_state] - - # Send keep pulse once per second during LaneChangeStart.preLaneChange - if self.lane_change_state in (LaneChangeState.off, LaneChangeState.laneChangeStarting): - self.keep_pulse_timer = 0.0 - elif self.lane_change_state == LaneChangeState.preLaneChange: - self.keep_pulse_timer += DT_MDL - if self.keep_pulse_timer > 1.0: - self.keep_pulse_timer = 0.0 - elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight): - self.desire = log.Desire.none