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only do reset if already calibrated (#2176)

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old-commit-hash: 0b849d5a4e417d73e4b821b909839f379d70e75d
This commit is contained in:
HaraldSchafer
2020-09-15 07:44:13 -07:00
committed by GitHub
parent 0caedb9195
commit 805a86b0dd
1 changed files with 1 additions and 1 deletions
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selfdrive/locationd/calibrationd.py
+1 -1
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@@ -113,7 +113,7 @@ class Calibrator():
# If spread is too high, assume mounting was changed and reset to last block.
# Make the transition smooth. Abrupt transistion are not good foor feedback loop through supercombo model.
if max(self.calib_spread) > MAX_ALLOWED_SPREAD:
if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy)
write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)