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calibrationd

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This commit is contained in:
Adeeb Shihadeh 2020-08-30 18:52:03 -07:00
parent ea838e1674
commit 580051a33b
1 changed files with 5 additions and 4 deletions
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9
selfdrive/locationd/calibrationd.py
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@ -156,7 +156,7 @@ def calibrationd_thread(sm=None, pm=None):
send_counter = 0
while 1:
sm.update()
sm.update(wait_for="cameraOdometry")
# if no inputs still publish calibration
if not sm.updated['carState'] and not sm.updated['cameraOdometry']:
@ -165,9 +165,6 @@ def calibrationd_thread(sm=None, pm=None):
if sm.updated['carState']:
calibrator.handle_v_ego(sm['carState'].vEgo)
if send_counter % 25 == 0:
calibrator.send_data(pm)
send_counter += 1
if sm.updated['cameraOdometry']:
new_vp = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
@ -175,6 +172,10 @@ def calibrationd_thread(sm=None, pm=None):
sm['cameraOdometry'].transStd,
sm['cameraOdometry'].rotStd)
if send_counter % 5 == 0:
calibrator.send_data(pm)
send_counter += 1
if DEBUG and new_vp is not None:
print('got new vp', new_vp)