From ac6f33fa98f8c4e75b6ddf62046146058aaaabb4 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 5 Aug 2026 19:11:24 -0400 Subject: [PATCH] plannerd: ignore mapd in health check (#1880) --- selfdrive/controls/plannerd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index f7d3370f90..50bfef7c5a 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -22,13 +22,14 @@ def main(): cloudlog.info("plannerd got CarParamsSP") gps_location_service = get_gps_location_service(params) + ignore_services = ["liveMapDataSP", gps_location_service] ldw = LaneDepartureWarning() longitudinal_planner = LongitudinalPlanner(CP, CP_SP) pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP']) sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState', 'liveMapDataSP', 'carStateSP', gps_location_service], - poll='carState') + poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services) while True: sm.update()