I've had PCS error since installing my comma3x:

I've managed to narrow the case down significantly, and I am creating this issue to trace the investigation.

What is happening?

When driving normally with c3x, I was getting seemingly uncorrelated PCS errors, after which this error message is persistent till car restart.

Car:

• EU Toyota Yaris 2020
• tn branch from sunnypilot (same behaviour on stock OP)
• sunnypilot in chill mode
• radar ACC + SecOC car
• no long control, I am using stock radar and OP for lateral

Findings

I've narrowed it down to the following case:

• drive normally with OP enabled in settings, but there is no difference if the MADS/ACC is enabled in OP
• cross the visible line on the road
• while crossing the lane, normally Toyota LKAS camera will react to prevent lane departure, but now it is intercepted by OP
• car won't make any corrections, but during crossing PCS error will appear.

Logs

I've gathered some logs from driving, and sharing them publicly:

Analysis

What can I see on CAN?

• LKAS camera sees the lines & detect lane departure (seen on bus 2)
• those requests are blocked by OP, no nothing changing on bus 130
• LDA_UNAVAILABLE appears from LKAS on bus 2, but this is blocked
• PCS error is triggered, shown by PCS_INDICATOR in PCS_HUD frame on bus 0
• then LKAS camera also shuts down (seen on bus 2, but blocked so nothing on 130)

before PCS_INDICATOR shows up, I can't see any changes on bus 130. So possibly the error originates from non-annotated frames from LKAS camera on bus 2 (but this is my guess).

Any input/hints/help appreciated :)