From 0265ae5f7629f464daecdba562962a3f33c29bb9 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 25 Jul 2026 01:27:25 -0400 Subject: [PATCH] Revert "plannerd: check all services for validity (#38341)" This reverts commit a9ffebe96e88a664ce71e76a86f7b3b6719eb3f4. --- openpilot/selfdrive/controls/lib/longitudinal_planner.py | 2 +- openpilot/selfdrive/controls/plannerd.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/controls/lib/longitudinal_planner.py b/openpilot/selfdrive/controls/lib/longitudinal_planner.py index 7e3446a768..6eaed7370d 100755 --- a/openpilot/selfdrive/controls/lib/longitudinal_planner.py +++ b/openpilot/selfdrive/controls/lib/longitudinal_planner.py @@ -158,7 +158,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP): def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') - plan_send.valid = sm.all_checks() + plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState']) longitudinalPlan = plan_send.longitudinalPlan longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2'] diff --git a/openpilot/selfdrive/controls/plannerd.py b/openpilot/selfdrive/controls/plannerd.py index 66b17d60a7..05e44c173e 100755 --- a/openpilot/selfdrive/controls/plannerd.py +++ b/openpilot/selfdrive/controls/plannerd.py @@ -40,7 +40,7 @@ def main(): ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl']) msg = messaging.new_message('driverAssistance') - msg.valid = sm.all_checks() + msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters']) msg.driverAssistance.leftLaneDeparture = ldw.left msg.driverAssistance.rightLaneDeparture = ldw.right pm.send('driverAssistance', msg)