The state transition into State.enabled briefly bumps the controlsd
loop time over its budget, which trips rk.lagging and triggers the
'Controls Process Lagging: Reboot Your Device' NoEntryAlert right as
the user takes their hands off the wheel. The lag clears within a
couple cycles and self-driving continues fine.
Track the rising edge of self.enabled, and skip the controlsdLagging
event for the first 3 seconds after engagement. All other lag triggers
(unrelated to engagement) still fire normally.
brianhansonxyz
8e4134c4ed