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Fallback publish calib (#1392)

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* if no inputs still publish

* better
This commit is contained in:
HaraldSchafer 2020-04-17 17:05:54 -07:00 committed by GitHub
parent 02e474580e
commit 28d8b4abac
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1 changed files with 6 additions and 0 deletions
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6
selfdrive/locationd/calibrationd.py
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@ -147,6 +147,11 @@ def calibrationd_thread(sm=None, pm=None):
while 1: while 1:
sm.update() sm.update()
# if no inputs still publish calibration
if not sm.updated['carState'] and not sm.updated['cameraOdometry']:
calibrator.send_data(pm)
continue
if sm.updated['carState']: if sm.updated['carState']:
calibrator.handle_v_ego(sm['carState'].vEgo) calibrator.handle_v_ego(sm['carState'].vEgo)
if send_counter % 25 == 0: if send_counter % 25 == 0:
@ -159,6 +164,7 @@ def calibrationd_thread(sm=None, pm=None):
sm['cameraOdometry'].transStd, sm['cameraOdometry'].transStd,
sm['cameraOdometry'].rotStd) sm['cameraOdometry'].rotStd)
if DEBUG and new_vp is not None: if DEBUG and new_vp is not None:
print('got new vp', new_vp) print('got new vp', new_vp)