wip

selfdrive/controls/controlsd.py

@@ -29,6 +29,8 @@ from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offr
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.system.hardware import HARDWARE
 
+from openpilot.common.watcher import Watcher
+
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
@@ -131,6 +133,9 @@ class Controls:
 
     self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
 
+    # Test
+    Watcher.log_watch("always_on_lateral", self.always_on_lateral)
+
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")