Clear every 10 iterations, which means 100hz * 10

sunnypilot/selfdrive/controls/lib/param_store.py

@@ -23,6 +23,7 @@ class ParamStore:
     self.keys = universal_params + brand_params
     self.values = {}
     self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
+    self.publish_counter = 0
 
   def update(self, params: Params) -> None:
     old_values = dict(self.values)
@@ -33,4 +34,12 @@ class ParamStore:
   def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
     if self.cached_params_list is None:
       self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
-    return self.cached_params_list
+
+    result = self.cached_params_list
+
+    self.publish_counter += 1
+    if self.publish_counter >= 10:
+      self.publish_counter = 0
+      self.cached_params_list = None
+
+    return result