Move radar delay to carParams (commaai#1224)

move radar delay to CP
adurham · Sep 5, 2024 · c0a9ab5 · c0a9ab5
1 parent 3dde383
commit c0a9ab5
Show file tree

Hide file tree

Showing 4 changed files with 2 additions and 3 deletions.
diff --git a/opendbc/car/honda/interface.py b/opendbc/car/honda/interface.py
@@ -206,6 +206,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
+    ret.radarDelay = 0.1
 
     return ret
 

diff --git a/opendbc/car/honda/radar_interface.py b/opendbc/car/honda/radar_interface.py
@@ -20,8 +20,6 @@ def __init__(self, CP):
     self.radar_off_can = CP.radarUnavailable
     self.radar_ts = CP.radarTimeStep
 
-    self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar
-
     # Nidec
     if self.radar_off_can:
       self.rcp = None

diff --git a/opendbc/car/interfaces.py b/opendbc/car/interfaces.py
@@ -260,7 +260,6 @@ def __init__(self, CP: structs.CarParams):
     self.CP = CP
     self.rcp = None
     self.pts: dict[int, structs.RadarData.RadarPoint] = {}
-    self.delay = 0
     self.radar_ts = CP.radarTimeStep
     self.frame = 0
 

diff --git a/opendbc/car/structs.py b/opendbc/car/structs.py
@@ -385,6 +385,7 @@ class LateralTorqueTuning:
   carFw: list['CarParams.CarFw'] = auto_field()
 
   radarTimeStep: float = 0.05  # time delta between radar updates, 20Hz is very standard
+  radarDelay: float = auto_field()
   fingerprintSource: 'CarParams.FingerprintSource' = field(default_factory=lambda: CarParams.FingerprintSource.can)
   # Where Panda/C2 is integrated into the car's CAN network
   networkLocation: 'CarParams.NetworkLocation' = field(default_factory=lambda: CarParams.NetworkLocation.fwdCamera)