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Laikad: fix qcom report collection (#28879)

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* Make report aggregation variable

* Add laikad test now it passes

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
Harald Schäfer
2023-07-11 10:25:49 +02:00
committed by GitHub
parent 305ab3cb3e
commit 221cd0ab09
2 changed files with 18 additions and 9 deletions
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selfdrive/locationd/laikad.py
+7 -2
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@@ -103,6 +103,10 @@ class Laikad:
self.first_log_time = None
self.ttff = -1
# qcom specific stuff
self.qcom_reports_received = 1
self.qcom_reports = []
def load_cache(self):
if not self.save_ephemeris:
return
@@ -211,18 +215,19 @@ class Laikad:
def read_report(self, gnss_msg):
if self.use_qcom:
# QCOM reports are per constellation, should always send 3 reports
# QCOM reports are per constellation, so we need to aggregate them
report = gnss_msg.drMeasurementReport
report_time = self.gps_time_from_qcom_report(gnss_msg)
if report_time - self.last_report_time > 0:
self.qcom_reports_received = max(1, len(self.qcom_reports))
self.qcom_reports = [report]
else:
self.qcom_reports.append(report)
self.last_report_time = report_time
new_meas = []
if len(self.qcom_reports) == 3:
if len(self.qcom_reports) == self.qcom_reports_received:
for report in self.qcom_reports:
new_meas.extend(read_raw_qcom(report))