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Only show gps event after 1 km (#1747)

pull/1646/head
Willem Melching 2020-06-19 14:11:23 -07:00 committed by GitHub
parent 9e273eb2ec
commit 24de8174dc
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 6 additions and 2 deletions
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8
selfdrive/controls/controlsd.py
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@ -128,6 +128,7 @@ class Controls:
self.can_error_counter = 0
self.last_blinker_frame = 0
self.saturated_count = 0
self.distance_traveled = 0
self.events_prev = []
self.current_alert_types = []
@ -213,8 +214,9 @@ class Controls:
if not self.sm['liveLocationKalman'].inputsOK and os.getenv("NOSENSOR") is None:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].gpsOK and os.getenv("NOSENSOR") is None:
self.events.add(EventName.noGps)
if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and os.getenv("NOSENSOR") is None:
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
self.events.add(EventName.noGps)
if not self.sm['pathPlan'].paramsValid:
self.events.add(EventName.vehicleModelInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
@ -259,6 +261,8 @@ class Controls:
if not self.sm['health'].controlsAllowed and self.enabled:
self.mismatch_counter += 1
self.distance_traveled += CS.vEgo * DT_CTRL
return CS
def state_transition(self, CS):