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Commit ec74994

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+7
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cereal

selfdrive/boardd/boardd.cc

+2-1
Original file line numberDiff line numberDiff line change
@@ -388,7 +388,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
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ps.setIgnitionLine(health.ignition_line_pkt);
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ps.setIgnitionCan(health.ignition_can_pkt);
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ps.setControlsAllowed(health.controls_allowed_pkt);
391-
ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
391+
// rick - deprecated in panda
392+
// ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt);
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ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
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ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
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ps.setGmlanSendErrs(health.gmlan_send_errs_pkt);

selfdrive/controls/controlsd.py

+4-1
Original file line numberDiff line numberDiff line change
@@ -795,7 +795,8 @@ def publish_logs(self, CS, start_time, CC, lac_log):
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controlsState.active = self.active
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controlsState.curvature = curvature
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controlsState.desiredCurvature = self.desired_curvature
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controlsState.desiredCurvatureRate = self.desired_curvature_rate
798+
# rick - deprecated
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# controlsState.desiredCurvatureRate = self.desired_curvature_rate
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controlsState.state = self.state
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controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
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controlsState.longControlState = self.LoC.long_control_state
@@ -822,6 +823,8 @@ def publish_logs(self, CS, start_time, CC, lac_log):
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controlsState.lateralControlState.torqueState = lac_log
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elif lat_tuning == 'indi':
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controlsState.lateralControlState.indiState = lac_log
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elif lat_tuning == 'lqr':
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controlsState.lateralControlState.lqrState = lac_log
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self.pm.send('controlsState', dat)
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