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nav: check valid flag on PositionGeodetic measurement (#22858)

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This commit is contained in:
Willem Melching
2021-11-11 10:24:10 +01:00
committed by GitHub
parent caad4919ac
commit 306df7f94f
2 changed files with 7 additions and 8 deletions
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selfdrive/ui/navd/route_engine.cc
+4 -4
View File
@@ -131,14 +131,14 @@ void RouteEngine::timerUpdate() {
}
auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
auto pos = location.getPositionGeodetic();
auto orientation = location.getCalibratedOrientationNED();
gps_ok = location.getGpsOK();
localizer_valid = location.getStatus() == cereal::LiveLocationKalman::Status::VALID;
localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
if (localizer_valid) {
auto pos = location.getPositionGeodetic();
auto orientation = location.getCalibratedOrientationNED();
last_bearing = RAD2DEG(orientation.getValue()[2]);
last_position = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
}
selfdrive/ui/qt/maps/map.cc
+3 -4
View File
@@ -112,13 +112,12 @@ void MapWindow::timerUpdate() {
sm->update(0);
if (sm->updated("liveLocationKalman")) {
auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
auto pos = location.getPositionGeodetic();
auto orientation = location.getCalibratedOrientationNED();
localizer_valid = location.getStatus() == cereal::LiveLocationKalman::Status::VALID;
localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
if (localizer_valid) {
auto pos = location.getPositionGeodetic();
auto orientation = location.getCalibratedOrientationNED();
float velocity = location.getVelocityCalibrated().getValue()[0];
float bearing = RAD2DEG(orientation.getValue()[2]);
auto coordinate = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);