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disable LDW when calibration is incomplete (#984)

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old-commit-hash: f13c5d74aa
This commit is contained in:
Adeeb
2020-01-20 21:43:38 -08:00
committed by Willem Melching
parent 62f107d852
commit 92a6873977
1 changed files with 2 additions and 1 deletions
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selfdrive/controls/controlsd.py
+2 -1
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@@ -346,7 +346,8 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
CC.hudControl.leftLaneVisible = bool(left_lane_visible)
recent_blinker = (sm.frame - last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
ldw_allowed = CS.vEgo > 31 * CV.MPH_TO_MS and not recent_blinker and is_ldw_enabled and not isActive(state)
calibrated = sm['liveCalibration'].calStatus == Calibration.CALIBRATED
ldw_allowed = CS.vEgo > 31 * CV.MPH_TO_MS and not recent_blinker and is_ldw_enabled and not isActive(state) and calibrated
md = sm['model']
if len(md.meta.desirePrediction):