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ui/map: check valid before accessing PositionECEF (#31961)

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check valid
This commit is contained in:
Dean Lee
2024-04-25 11:14:42 +08:00
committed by GitHub
parent bbbd510fcc
commit 06c4a541da
1 changed files with 8 additions and 5 deletions
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selfdrive/ui/qt/maps/map.cc
+8 -5
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@@ -123,12 +123,15 @@ void MapWindow::updateState(const UIState &s) {
auto locationd_pos = locationd_location.getPositionGeodetic();
auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
auto locationd_velocity = locationd_location.getVelocityCalibrated();
auto locationd_ecef = locationd_location.getPositionECEF();
// Check std norm
auto pos_ecef_std = locationd_location.getPositionECEF().getStd();
bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && pos_accurate_enough);
locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && locationd_ecef.getValid());
if (locationd_valid) {
// Check std norm
auto pos_ecef_std = locationd_ecef.getStd();
bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
locationd_valid = pos_accurate_enough;
}
if (locationd_valid) {
last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);