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longitudinal test should broadcast liveLocationKalman

albatross
Willem Melching 2020-06-01 14:24:48 -07:00
parent cdb48cc180
commit d00cdf1e0c
1 changed files with 7 additions and 0 deletions
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7
selfdrive/test/longitudinal_maneuvers/plant.py
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@ -113,6 +113,7 @@ class Plant():
Plant.sendcan = messaging.sub_sock('sendcan')
Plant.model = messaging.pub_sock('model')
Plant.live_params = messaging.pub_sock('liveParameters')
Plant.live_location_kalman = messaging.pub_sock('liveLocationKalman')
Plant.health = messaging.pub_sock('health')
Plant.thermal = messaging.pub_sock('thermal')
Plant.driverState = messaging.pub_sock('driverState')
@ -161,6 +162,7 @@ class Plant():
Plant.logcan.close()
Plant.model.close()
Plant.live_params.close()
Plant.live_location_kalman.close()
def speed_sensor(self, speed):
if speed < 0.3:
@ -378,6 +380,11 @@ class Plant():
thermal.thermal.batteryPercent = 100
Plant.thermal.send(thermal.to_bytes())
live_location_kalman = messaging.new_message('liveLocationKalman')
live_location_kalman.liveLocationKalman.inputsOK = True
live_location_kalman.liveLocationKalman.gpsOK = True
Plant.live_location_kalman.send(live_location_kalman.to_bytes())
# ******** publish a fake model going straight and fake calibration ********
# note that this is worst case for MPC, since model will delay long mpc by one time step
if publish_model and self.frame % 5 == 0: