LagdToggle: fix inverted get_lat_delay branches (#1906 )

* helpers.py get_lat_delay fix * fix trailing whitespace * lint --------- Co-authored-by: Nayan <nayan8teen@gmail.com>
2026-08-20 18:03:46 +08:00 · 2026-08-19 21:36:37 -04:00
1 changed files with 6 additions and 3 deletions
@@ -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))