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add todo-sp

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Jason Wen
2024-12-07 21:02:31 -05:00
parent 106b4ddc93
commit 3e6204567e
1 changed files with 1 additions and 0 deletions
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selfdrive/selfdrived/selfdrived.py
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@@ -248,6 +248,7 @@ class SelfdriveD:
else:
safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
# TODO-SP: add controlsMismatchLat for controlsAllowedLat
# safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)