revert peripheral

commaai · Sep 16, 2023 · 2c99c19 · 2c99c19
1 parent 89ed0d6
commit 2c99c19
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/cereal b/cereal
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
@@ -476,8 +476,11 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   RateKeeper rk("panda_state_thread", 10);
 
   while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState
-    send_peripheral_state(&pm, peripheral_panda);
+    if (sm.frame % 5 == 0) {
+      // send out peripheralState at 2Hz
+      send_peripheral_state(&pm, peripheral_panda);
+    }
+
     auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {