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navd: recompute if far for > 3 steps (#26798)

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* navd: recompute if far for > 3 steps

* typo

* reset and unindent
This commit is contained in:
YassineYousfi
2022-12-15 10:51:21 -08:00
committed by GitHub
parent 951ceecadd
commit 08b4cff484
1 changed files with 9 additions and 2 deletions
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selfdrive/navd/navd.py
+9 -2
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@@ -22,6 +22,7 @@ from system.swaglog import cloudlog
REROUTE_DISTANCE = 25
MANEUVER_TRANSITION_THRESHOLD = 10
VALID_POS_STD = 50.0
REROUTE_COUNTER_MIN = 3
class RouteEngine:
@@ -48,6 +49,8 @@ class RouteEngine:
self.ui_pid = None
self.reroute_counter = 0
if "MAPBOX_TOKEN" in os.environ:
self.mapbox_token = os.environ["MAPBOX_TOKEN"]
self.mapbox_host = "https://api.mapbox.com"
@@ -114,6 +117,7 @@ class RouteEngine:
self.recompute_countdown = 2**self.recompute_backoff
self.recompute_backoff = min(6, self.recompute_backoff + 1)
self.calculate_route(new_destination)
self.reroute_counter = 0
else:
self.recompute_countdown = max(0, self.recompute_countdown - 1)
@@ -305,8 +309,11 @@ class RouteEngine:
min_d = min(min_d, minimum_distance(a, b, self.last_position))
return min_d > REROUTE_DISTANCE
if min_d > REROUTE_DISTANCE:
self.reroute_counter += 1
else:
self.reroute_counter = 0
return self.reroute_counter > REROUTE_COUNTER_MIN
# TODO: Check for going wrong way in segment