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Laikad: ignore more garbage measurements (#29569)

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* Laikad: ignore more garbage measurememnts

* bump laika
old-commit-hash: f4f8047e979c3366ab4ecd7527cc6daf01f126db
This commit is contained in:
Harald Schäfer
2023-08-23 19:48:55 -07:00
committed by GitHub
parent 56facfcc5a
commit c6d12893f6
2 changed files with 8 additions and 4 deletions
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laika_repo
+1 -1
Submodule laika_repo updated: 989b6a8505...a028f6a2c9
selfdrive/locationd/laikad.py
+7 -3
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@@ -205,12 +205,16 @@ class Laikad:
# Additionally, the pseudoranges are broken in the measurementReports
# and the doppler filteredSpeed is broken in the drMeasurementReports
report_time = gps_time_from_qcom_report(gnss_msg)
if report_time - self.last_report_time > 0:
if report_time - self.last_report_time == 0:
self.qcom_reports.append(gnss_msg)
self.last_report_time = report_time
elif report_time - self.last_report_time > 0:
self.qcom_reports_received = max(1, len(self.qcom_reports))
self.qcom_reports = [gnss_msg]
self.last_report_time = report_time
else:
self.qcom_reports.append(gnss_msg)
self.last_report_time = report_time
# Sometimes DR reports get sent one iteration late (1second), they need to be ignored
cloudlog.warning(f"Received report with time {report_time} before last report time {self.last_report_time}")
if len(self.qcom_reports) == self.qcom_reports_received:
new_meas = get_measurements_from_qcom_reports(self.qcom_reports)