cleanup no sensor data alert (#1760)
parent
fa7b5d38b8
commit
264015c584
|
@ -64,3 +64,5 @@ pandaextra
|
|||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
|
|
2
cereal
2
cereal
|
@ -1 +1 @@
|
|||
Subproject commit c0c3cc16b2ee2aafa7d13b67563463be663c240c
|
||||
Subproject commit 8d5230e59b0ed7c93c66863d0cd19e5f180e417c
|
|
@ -202,7 +202,7 @@ class Controls:
|
|||
self.events.add(EventName.commIssue)
|
||||
if not self.sm['pathPlan'].mpcSolutionValid:
|
||||
self.events.add(EventName.plannerError)
|
||||
if not self.sm['liveLocationKalman'].inputsOK and os.getenv("NOSENSOR") is None:
|
||||
if not self.sm['liveLocationKalman'].sensorsOK 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 (self.distance_traveled > 1000) and os.getenv("NOSENSOR") is None:
|
||||
|
|
|
@ -324,6 +324,7 @@ def locationd_thread(sm, pm, disabled_logs=None):
|
|||
|
||||
msg.liveLocationKalman = localizer.liveLocationMsg(t * 1e-9)
|
||||
msg.liveLocationKalman.inputsOK = sm.all_alive_and_valid()
|
||||
msg.liveLocationKalman.sensorsOK = sm.alive['sensorEvents'] and sm.valid['sensorEvents']
|
||||
|
||||
gps_age = (t / 1e9) - localizer.last_gps_fix
|
||||
msg.liveLocationKalman.gpsOK = gps_age < 1.0
|
||||
|
|
Loading…
Reference in New Issue