The park short-circuit added in cea422b created lac_log as
LateralDebugState. publish_logs assigns lac_log to
controlsState.lateralControlState.<subtype> based on
CP.lateralTuning.which() — for torque-tuned cars (Hyundai Tucson here)
that's torqueState, expecting LateralTorqueState. The mismatch threw
a capnp KjException ("Value type mismatch") on the first state_control
cycle in park, killing controlsd. Manager respawned it, it crashed
again on the next park cycle, repeat — controlsState was never reliably
published, so the UI never saw the started/onroad transition and didn't
flip to the camera view.
Fix: call self.LaC.update(False, ...) which internally early-returns
when active is False (cheap) but produces the correct lac_log subtype
for whichever controller this car uses (LateralTorqueState for torque,
LateralPIDState for pid, LateralAngleState for angle). Pass through
the same sm reads the regular path uses; they're cached so the cost is
negligible.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
brianhansonxyz
37e095eab7