DLP: don't delay on checking status (commaai#31)

carleeno · Feb 11, 2023 · a42d9e2 · a42d9e2
1 parent 4d65697
commit a42d9e2
Showing 1 changed file with 1 addition and 5 deletions.
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
@@ -49,7 +49,6 @@ def __init__(self, CP, use_lanelines=True, wide_camera=False):
     self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding="utf8"))
     self.dynamic_lane_profile_status = False
     self.dynamic_lane_profile_status_buffer = False
-    self.second = 0.0
 
     self.standstill_elapsed = 0.0
     self.standstill = False
@@ -59,10 +58,7 @@ def reset_mpc(self, x0=np.zeros(4)):
     self.lat_mpc.reset(x0=self.x0)
 
   def update(self, sm):
-    self.second += DT_MDL
-    if self.second > 1.0:
-      self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding="utf8"))
-      self.second = 0.0
+    self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding='utf8'))
     self.standstill = sm['carState'].standstill
     # clip speed , lateral planning is not possible at 0 speed
     self.v_ego = max(MIN_SPEED, sm['carState'].vEgo)