Stock rk.lagging fires at 11.1ms (90% of 10ms interval), which the
Hyundai CAN load routinely crosses during normal driving as carstate
parses 50-200 msgs/sec. That's normal, not a fault — the same code
behaved the same way at the fork baseline; we just made it visible with
the LAG overlay.
50Hz effective control is still tighter than any human reaction loop.
rk.lagging remains wired to the defensive skip paths (secondary camera
and radar checks) at the original tighter threshold, so we still avoid
false-alarming dependent events when briefly overloaded.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Brian Hanson
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