modeld: set the valid flag on modelDataV2SP (PR-2017)

2026-09-13 10:54:03 +08:00 · 2026-09-13 02:07:30 +00:00
2 changed files with 2 additions and 0 deletions
@@ -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)
@@ -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