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modeld: set the valid flag on modelDataV2SP (#2017)

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* modeld: set the valid flag on modelDataV2SP

modelDataV2SP was published with new_message's default valid=False, so
the message was permanently invalid. Nothing acts on that today because
selfdrived lists it under ignore_valid, but it shows up as invalid in
every commIssue dump and hides any real problem behind a false one.

Copy modelV2's flag, the same way fill_model_msg already does for
drivingModelData.

Assisted-by: Claude
Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>

* modeld_v2: set the valid flag on modelDataV2SP

The sunnypilot model runner publishes the same message and had the same
gap. Copy modelV2's flag here too, so both daemons agree.

Assisted-by: Claude
Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>

---------

Co-authored-by: Claude Fable 5.1 <noreply@anthropic.com>
Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>
This commit is contained in:
Matt Purnell
2026-09-13 14:49:59 -05:00
committed by GitHub
parent 347238b307
commit 5484f7f4a7
2 changed files with 2 additions and 0 deletions
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openpilot/selfdrive/modeld/modeld.py
+1
View File
@@ -474,6 +474,7 @@ def main(demo=False):
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
mdv2sp_send.valid = modelv2_send.valid
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
fill_driving_model_data(drivingdata_send, modelv2_send)
openpilot/sunnypilot/modeld_v2/modeld.py
+1
View File
@@ -552,6 +552,7 @@ def main(demo=False):
DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, left_edge, right_edge)
modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
mdv2sp_send.valid = modelv2_send.valid
mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction