card parses radar points #33443
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card parses radar points #33443
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old-commit-hash: 9ad1f09
old-commit-hash: 5aa2c84
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…id which radard sets using liveTracks avg freq
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Confirmed the diff in amount of radarState msgs is because we poll on modelV2 now, so this always matches that. Confirmed the minor diffs in the segments is from being mismatched with the radar points and the kalman filter getting either duplicate messages or skipping a message. Ford segment for example:
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cydia2020
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Sep 6, 2024
* interfaces returns radarinterface old-commit-hash: 9ad1f09 * bump old-commit-hash: 20334a8 * get RI from opendbc old-commit-hash: b5f6d0c * stash so far old-commit-hash: 5aa2c84 * new liveTracks message (radard expects and needs RadarData) * this should just work? * whoops * fix that * rm liveTracks from radard pm * fix proceess replay * lol fcw diff, something's not right * actually there's fcw in original route. it's pretty close * no tracks! * fix test_leads * CPU moved across procs * fix not engageable from onroadEvents * bump * fixes * bump to master * radard publishes w/ modelV2 now, so it will always be sent. check valid which radard sets using liveTracks avg freq * fix that (it works!) * combine join * bump * bump * deprecate * why * fix incorrect args * remove cumLagMs from process_replay * update refs
| @@ -222,6 +231,12 @@ def state_publish(self, CS: car.CarState): | |||
| cs_send.carState.cumLagMs = -self.rk.remaining * 1000. | |||
| self.pm.send('carState', cs_send) | |||
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| if RD is not None: | |||
| tracks_msg = messaging.new_message('liveTracks') | |||
| tracks_msg.valid = CS.canValid and len(RD.errors) == 0 | |||
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why is the carState canValid relevant here? if the radar bus is good, then the tracks should be valid
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opendbc PR: commaai/opendbc#1220