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Revert "Update controlsd.py" 

This reverts commit 8481eafe71.
This commit is contained in:
huifan 2024-11-05 14:42:58 +08:00
parent 9907d3864a
commit a653eda673
1 changed files with 5 additions and 5 deletions
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10
selfdrive/controls/controlsd.py
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@ -104,8 +104,8 @@ class Controls:
if REPLAY:
# no vipc in replay will make them ignored anyways
ignore += ['roadCameraState', 'wideRoadCameraState']
# if get_frogpilot_toggles(True).radarless_model:
ignore += ['radarState']
if get_frogpilot_toggles(True).radarless_model:
ignore += ['radarState']
########################
ignore += ['driverMonitoringState']
self.params.put_bool_nonblocking("DmModelInitialized", True)
@ -359,9 +359,9 @@ class Controls:
self.events.add(EventName.cameraFrameRate)
if not REPLAY and self.rk.lagging:
self.events.add(EventName.controlsdLagging)
# if not self.radarless_model:
# if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
# self.events.add(EventName.radarFault)
if not self.radarless_model:
if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
self.events.add(EventName.radarFault)
if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError)
if CS.canTimeout: