Fix

Author: FrogAi

selfdrive/controls/lib/longitudinal_planner.py

@@ -189,7 +189,7 @@ def update(self, sm, frogpilot_toggles):
     self.output_a_target = np.clip(output_a_target, accel_clip[0], accel_clip[1])
     self.prev_accel_clip = accel_clip
 
-  def publish(self, sm, pm):
+  def publish(self, sm, pm, frogpilot_toggles):
     plan_send = messaging.new_message('longitudinalPlan')
 
     plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState', 'radarState'])

selfdrive/controls/plannerd.py

@@ -33,7 +33,7 @@ def main():
     sm.update()
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm, frogpilot_toggles)
-      longitudinal_planner.publish(sm, pm)
+      longitudinal_planner.publish(sm, pm, frogpilot_toggles)
 
       ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
       msg = messaging.new_message('driverAssistance')