fixed some cleanup mistakes.

daehahn · Mar 4, 2019 · 104c4a8 · 104c4a8
1 parent ffd8c3a
commit 104c4a8
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -485,7 +485,6 @@ void *can_recv_thread(void *crap) {
   bool frame_sent, skip_once, force_send;
   uint64_t wake_time, locked_wake_time, cur_time;
   force_send = true;
-  int sleepTime;
   cur_time = 1e-3 * nanos_since_boot();
   wake_time = cur_time;
 
@@ -496,6 +495,7 @@ void *can_recv_thread(void *crap) {
       cur_time = 1e-3 * nanos_since_boot();
       skip_once = frame_sent;
       wake_time += 4500;
+      force_send = false;
       if (cur_time < wake_time) {
         usleep(wake_time - cur_time);
       }

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
@@ -204,8 +204,6 @@ def get_params(candidate, fingerprint):
       ret.longitudinalKpV = [3.6, 2.4, 1.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.54, 0.36]
-      # This is optional, and will cause boardd to synchnonize with the bus instead of time
-      ret.syncID = 330
 
     elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
       stop_and_go = True
@@ -221,6 +219,8 @@ def get_params(candidate, fingerprint):
       ret.longitudinalKpV = [1.2, 0.8, 0.5]
       ret.longitudinalKiBP = [0., 35.]
       ret.longitudinalKiV = [0.18, 0.12]
+      # This is optional, and will cause boardd to synchnonize with the bus instead of time
+      ret.syncID = 330
 
     elif candidate == CAR.ACURA_ILX:
       stop_and_go = False

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -459,7 +459,7 @@ def controlsd_thread(gctx=None, rate=100):
   path_plan = messaging.new_message()
   path_plan.init('pathPlan')
 
-  rk = Ratekeeper(rate, print_delay_threshold=2. / 10000)
+  rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)
   controls_params = params.get("ControlsParams")
   # Read angle offset from previous drive
   if controls_params is not None:
@@ -503,7 +503,7 @@ def controlsd_thread(gctx=None, rate=100):
                     v_cruise_kph_last, AM, rk, driver_status,
                     LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
 
-    rk.keep_time(2. / 1000000)  # use "soft" time keeping for data OUT to vehicle
+    rk.keep_time(2. / 100000)  # use "soft" time keeping for data OUT to vehicle
     prof.checkpoint("State Control")
 
     # Publish data