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paramsd: fix unbounded yaw rate while calibrating (#34806)

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* rm

* comments

* default values when yaw rate invalid

* clean up

Revert "default values when yaw rate invalid"

This reverts commit e983abb3b009f15a57ebdfbadd4f616aba5b266e.

do the same for yaw rate we do for roll

and

* 1 is fine

* update refs

---------

Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
This commit is contained in:
Shane Smiskol
2025-03-07 00:44:09 -06:00
committed by GitHub
parent e61a4ac76e
commit 0789877cd3
3 changed files with 17 additions and 16 deletions
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selfdrive/locationd/locationd.py
+1 -1
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@@ -147,13 +147,13 @@ class LocationEstimator:
self.car_speed = abs(msg.vEgo)
elif which == "liveCalibration":
# Note that we use this message during calibration
if len(msg.rpyCalib) > 0:
calib = np.array(msg.rpyCalib)
if calib.min() < -CALIB_RPY_SANITY_CHECK or calib.max() > CALIB_RPY_SANITY_CHECK:
return HandleLogResult.INPUT_INVALID
self.device_from_calib = rot_from_euler(calib)
self.calibrated = msg.calStatus == log.LiveCalibrationData.Status.calibrated
elif which == "cameraOdometry":
if not self._validate_timestamp(t):