mawei/openpilot
1
0
Fork 0
mirror of https://jihulab.com/mr-one/openpilot.git synced 2026-10-27 13:03:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

编辑controlsd.py

Browse Source
This commit is contained in:
Mr.one
2025-06-04 21:02:40 +08:00
parent 34e7bd2589
commit fe9deec24a
1 changed files with 10 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/controlsd.py
+10 -8
View File
@@ -547,11 +547,11 @@ class Controls:
no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors:
if not self.sm.all_alive():
self.events.add(EventName.commIssue)
pass#self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok():
self.events.add(EventName.commIssueAvgFreq)
pass#self.events.add(EventName.commIssueAvgFreq)
else: # invalid or can_rcv_timeout.
self.events.add(EventName.commIssue)
pass#self.events.add(EventName.commIssue)
logs = {
'invalid': [s for s, valid in self.sm.valid.items() if not valid],
@@ -567,17 +567,19 @@ class Controls:
if not (self.CP.notCar and self.joystick_mode):
if not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
pass#self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
pass#self.events.add(EventName.deviceFalling)
if not self.sm['liveLocationKalman'].inputsOK:
self.events.add(EventName.locationdTemporaryError)
pass
#self.events.add(EventName.locationdTemporaryError)
if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
self.events.add(EventName.paramsdTemporaryError)
pass#self.events.add(EventName.paramsdTemporaryError)
# conservative HW alert. if the data or frequency are off, locationd will throw an error
if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets) and self.random_events:
self.events.add(EventName.sensorDataInvalid)
pass
#self.events.add(EventName.sensorDataInvalid)
if not REPLAY:
# Check for mismatch between openpilot and car's PCM