From 53e13a7bc0c38f53b1f11a50cfa346d4f51c39c9 Mon Sep 17 00:00:00 2001 From: Robin Dittrich <43466794+RWL-Dittrich@users.noreply.github.com> Date: Thu, 20 Aug 2026 03:36:37 +0200 Subject: [PATCH] LagdToggle: fix inverted get_lat_delay branches (#1906) * helpers.py get_lat_delay fix * fix trailing whitespace * lint --------- Co-authored-by: Nayan --- openpilot/sunnypilot/livedelay/helpers.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/openpilot/sunnypilot/livedelay/helpers.py b/openpilot/sunnypilot/livedelay/helpers.py index 0f7437ceea..7b36b57af1 100644 --- a/openpilot/sunnypilot/livedelay/helpers.py +++ b/openpilot/sunnypilot/livedelay/helpers.py @@ -8,7 +8,10 @@ from openpilot.common.params import Params def get_lat_delay(params: Params, stock_lat_delay: float) -> float: - if params.get_bool("LagdToggle"): - return float(params.get("LagdValueCache", return_default=True)) +# live learning on: use what lagd publishes. +# off: use the fixed steerActuatorDelay + software delay sum that LagdToggle caches. - return stock_lat_delay + if params.get_bool("LagdToggle"): + return stock_lat_delay + + return float(params.get("LagdValueCache", return_default=True))