Brian Hanson 83aed16a35 perf: suppress controlsdLagging on engage + gate frogpilotCarControl send ...

Two related fixes for the post-engage lag spike:

1. controlsdLagging suppressed during lat_engage_suppress window.
   Ratekeeper.lagging triggers when avg cycle duration over 100 cycles
   exceeds 11.1ms (90% of 10ms budget). The modeld 10→20fps ramp causes
   a legitimate transient where downstream services (plannerd, locationd,
   calibrationd, paramsd) each drain 2x the message rate, briefly pushing
   avg cycle time past the threshold. The underlying system isn't broken —
   it's correctly absorbing a scheduled workload transition.

2. frogpilotCarControl now sends only on change (+ 1Hz keepalive) instead
   of every 10ms. The message has 3 bool fields, of which speedLimitChanged
   code is entirely commented out, trafficModeActive flips only on UI
   button press, and alwaysOnLateral changes only on cruise/gear/brake
   edges. plannerd doesn't include frogpilotCarControl in its all_checks
   list so stale-freq detection isn't a concern. Saves ~7ms/sec of
   capnp build + zmq send work.

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

2026-04-16 22:35:16 -05:00

61 KiB

Executable File

Raw Blame History

View Raw