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ldw: fix blinker cooldown using wrong time step (#38501)

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Co-authored-by: Shane Smiskol <trivisionzero@gmail.com>
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Shane Smiskol
2026-08-01 06:26:31 -07:00
committed by GitHub
parent a2ee4dfffc
commit d3058de5c1
1 changed files with 2 additions and 2 deletions
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openpilot/selfdrive/controls/lib/ldw.py
+2 -2
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@@ -1,5 +1,5 @@
from openpilot.cereal import log
from openpilot.common.realtime import DT_CTRL
from openpilot.common.realtime import DT_MDL
from openpilot.common.constants import CV
@@ -17,7 +17,7 @@ class LaneDepartureWarning:
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = frame
recent_blinker = (frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
recent_blinker = (frame - self.last_blinker_frame) * DT_MDL < 5.0 # 5s blinker cooldown
ldw_allowed = CS.vEgo > LDW_MIN_SPEED and not recent_blinker and not CC.latActive
desire_prediction = modelV2.meta.desirePrediction