locationd: disable falling device detector (#23431)
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86d730774d
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ef225e3e35
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@ -232,9 +232,10 @@ void Localizer::handle_sensors(double current_time, const capnp::List<cereal::Se
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if (sensor_reading.getSensor() == SENSOR_ACCELEROMETER && sensor_reading.getType() == SENSOR_TYPE_ACCELEROMETER) {
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auto v = sensor_reading.getAcceleration().getV();
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// TODO: reduce false positives and re-enable this check
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// check if device fell, estimate 10 for g
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// 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
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this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
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//this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
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auto meas = Vector3d(-v[2], -v[1], -v[0]);
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if (meas.norm() < ACCEL_SANITY_CHECK) {
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