Fix tesla radar parser - #3
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lukasloetkolben merged 1 commit intoApr 17, 2026
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card.py only publishes liveTracks when update() returns a non-None RadarData. Returning an empty RadarData on every CAN tick caused liveTracks to be published at 100Hz with ~83% empty frames, making radar points appear to blink in downstream viewers. This restores the upstream behavior: only publish on radar cycles.
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…4-signal path (xnor-tech#1) Ports BluePilot's (alan-polk) compute_dm_msg_values + get_dm_state 1:1 and wires the rich create_acc_ui_msg for the 4-signal lateral path: BlueCruise blue display + DM-state-driven TJA cluster text (Resume Control / Cancelled / hands-on prompts / lane-departure), computed from selfdriveState.alertType (already subscribed by LateralCurvExt). Display-only — ACCDATA_3 (0x18A) is TX-allowlisted, no panda safety surface (Gemini: no crash/None risk, no steering/accel path, Tesla + non-Lightning Fords untouched via the self._latext is None fallback). NO panda reflash (opendbc car Python only). (xnor-tech#3 lane-change curvature scaling was ALREADY live — it's inside the LateralCurvExt flashed with the 4-signal safety.) Attribution: mechanism by alan-polk (BluePilot). Co-Authored-By: Claude Fable 5 <[email protected]> Claude-Session: https://claude.ai/code/session_01F3TLcBEaF2vpj9j8g3Nqc2
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This seems to have regressed at some point, causing the radar points to blink