From 0d290529d77adf8494700af2eea3de0d68a85578 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 Feb 2024 14:38:03 -0500 Subject: [PATCH] Lateral Plan: More fix --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index c487e23890..904b9c715d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -457,7 +457,7 @@ class Controls: if not (self.CP.notCar and self.joystick_mode): if self.model_use_lateral_planner: - if not self.sm['lateralPlan'].mpcSolutionValid: + if not self.sm['lateralPlanDEPRECATED'].mpcSolutionValid: self.events.add(EventName.plannerErrorDEPRECATED) if not self.sm['liveLocationKalman'].posenetOK: self.events.add(EventName.posenetInvalid)