Brian Hanson cf2b3fc637 modeld: revert to constant 20fps (except standby at standstill) ...

Disabled the variable-rate (4/10/20fps) logic — it caused persistent
downstream freq/valid cascades that broke paramsd's angle-offset
learner, calibrationd, and locationd's one-shot filterInitialized latch.
Symptom: user's "TAKE CONTROL IMMEDIATELY / Communication Issue"
banner during engaged driving, plus subtle right-pull (paramsd's fast
angle-offset adaptation was frozen all session).

Simpler model now:
  standstill → standby (0fps, paused)
  otherwise  → 20fps (no variable rate)

Republish-caching and FPCC.latRequested/noLatLaneChange plumbing left in
place so re-enabling variable rate later is a one-line change
(full_rate = True → the original full_rate expression).

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

2026-04-17 18:21:46 -05:00

19 KiB

Executable File

Raw Blame History

View Raw