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fix no GPS alert when driving slowly in a tunnel (#31483)

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old-commit-hash: d31269f6639b86405708f05c098ac1fd665c3107
This commit is contained in:
Adeeb Shihadeh
2024-02-15 11:52:57 -08:00
committed by GitHub
parent 42f292b3ce
commit d167a22be5
1 changed files with 4 additions and 3 deletions
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selfdrive/controls/controlsd.py
+4 -3
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@@ -411,9 +411,12 @@ class Controls:
# TODO: fix simulator
if not SIMULATION or REPLAY:
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
self.events.add(EventName.noGps)
if self.sm['liveLocationKalman'].gpsOK:
self.distance_traveled = 0
self.distance_traveled += CS.vEgo * DT_CTRL
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
@@ -476,8 +479,6 @@ class Controls:
if ps.safetyModel not in IGNORED_SAFETY_MODES):
self.mismatch_counter += 1
self.distance_traveled += CS.vEgo * DT_CTRL
return CS
def state_transition(self, CS):