From a2dd3de3ab78462548db2ae2eee0202c23150ed5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 9 Feb 2024 14:41:49 -0500 Subject: [PATCH] Lateral Plan: More fixes --- selfdrive/controls/controlsd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 904b9c715d..94e4765c5d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -88,10 +88,11 @@ class Controls: ignore += ['driverCameraState', 'managerState'] if self.d_camera_hardware_missing: ignore += ['driverMonitoringState'] + lateral_plan_svs = ['lateralPlanDEPRECATED', 'lateralPlanSPDEPRECATED'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', - 'testJoystick', 'longitudinalPlanSP', 'modelV2SP'] + self.camera_packets + self.sensor_packets, + 'testJoystick', 'longitudinalPlanSP', 'modelV2SP'] + self.camera_packets + self.sensor_packets + lateral_plan_svs, ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ]) if CI is None: