paramsd output at 20 Hz instead of 100 Hz

selfdrive/locationd/paramsd.py

@@ -103,7 +103,6 @@ def main(sm=None, pm=None):
   learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverage']))
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
 
-  i = 0
   while True:
     sm.update()
 
@@ -113,14 +112,10 @@ def main(sm=None, pm=None):
       t = sm.logMonoTime[which] * 1e-9
       learner.handle_log(t, which, sm[which])
 
-    # TODO: set valid to false when locationd stops sending
-    # TODO: make sure controlsd knows when there is no gyro
-
-    if sm.updated['carState']:
+    if sm.updated['carState'] and (learner.carstate_counter % CARSTATE_DECIMATION == 0):
       msg = messaging.new_message('liveParameters')
       msg.logMonoTime = sm.logMonoTime['carState']
 
-      msg.liveParameters.valid = True  # TODO: Check if learned values are sane
       msg.liveParameters.posenetValid = True
       msg.liveParameters.sensorValid = True
 
@@ -136,8 +131,7 @@ def main(sm=None, pm=None):
         min_sr <= msg.liveParameters.steerRatio <= max_sr,
       ))
 
-      i += 1
-      if i % 6000 == 0:   # once a minute
+      if learner.carstate_counter % 6000 == 0:   # once a minute
         params = {
           'carFingerprint': CP.carFingerprint,
           'steerRatio': msg.liveParameters.steerRatio,