changed according to the latest master version

eFiniLan · Feb 5, 2024 · ec74994 · ec74994
1 parent 02897a4
commit ec74994
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Showing 3 changed files with 7 additions and 3 deletions.
diff --git a/cereal b/cereal
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -388,7 +388,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setIgnitionLine(health.ignition_line_pkt);
     ps.setIgnitionCan(health.ignition_can_pkt);
     ps.setControlsAllowed(health.controls_allowed_pkt);
-    ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
+    // rick - deprecated in panda
+//    ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
     ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
     ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
     ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -795,7 +795,8 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     controlsState.active = self.active
     controlsState.curvature = curvature
     controlsState.desiredCurvature = self.desired_curvature
-    controlsState.desiredCurvatureRate = self.desired_curvature_rate
+    # rick - deprecated
+    # controlsState.desiredCurvatureRate = self.desired_curvature_rate
     controlsState.state = self.state
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
@@ -822,6 +823,8 @@ def publish_logs(self, CS, start_time, CC, lac_log):
       controlsState.lateralControlState.torqueState = lac_log
     elif lat_tuning == 'indi':
       controlsState.lateralControlState.indiState = lac_log
+    elif lat_tuning == 'lqr':
+      controlsState.lateralControlState.lqrState = lac_log
 
     self.pm.send('controlsState', dat)