Brian Hanson 5b67d4798b fix: update services.py rates to match new thermald/gpsd publish rates ...

Root cause of "TAKE CONTROL IMMEDIATELY / Communication Issue Between
Processes" during driving: our 4Hz thermald and 2Hz gpsd changes pushed
deviceState, managerState, and gpsLocation above their declared rate
ceilings in cereal/services.py. SubMaster's freq_ok check requires
observed rate within [0.8*min, 1.2*max]; publishing faster than max also
fails the check — which trips all_freq_ok(), raises EventName.commIssue,
and fires the banner.

- deviceState: 2Hz → 4Hz  (matches thermald DT_TRML=0.25)
- gpsLocation: 1Hz → 2Hz  (matches gpsd 2Hz polling)
- managerState: 2Hz → 4Hz (gated on deviceState arrival, inherits rate)

Also:
- Re-enabled dashcamd in process_config.py (was disabled for the
  diagnostic test — dashcamd was innocent).
- Added a CLAUDE.md section documenting this class of bug so the next
  rate change updates services.py too.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

2026-04-17 16:28:55 -05:00

4.5 KiB

Executable File

Raw Blame History

View Raw