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map.cc: fix crash on older route with missing liveLocationKalman values

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old-commit-hash: 9307fe434cf7e9adb68a12d0b9073ebcf75e1f3e
This commit is contained in:
Willem Melching
2022-05-04 11:37:31 +02:00
parent 9424f67e19
commit 43b558f6db
1 changed files with 6 additions and 8 deletions
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selfdrive/ui/qt/maps/map.cc
+6 -8
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@@ -117,17 +117,15 @@ void MapWindow::timerUpdate() {
auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
auto pos = location.getPositionGeodetic();
auto orientation = location.getCalibratedOrientationNED();
auto velocity = location.getVelocityCalibrated();
localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
pos.getValid() && orientation.getValid() && velocity.getValid();
if (localizer_valid) {
float velocity = location.getVelocityCalibrated().getValue()[0];
float bearing = RAD2DEG(orientation.getValue()[2]);
auto coordinate = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
last_position = coordinate;
last_bearing = bearing;
velocity_filter.update(velocity);
last_position = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
last_bearing = RAD2DEG(orientation.getValue()[2]);
velocity_filter.update(velocity.getValue()[0]);
}
}