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bug fixes

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This commit is contained in:
Rick Lan
2021-07-03 12:14:44 +08:00
parent 522fb06db7
commit 3b0aed3ed2
1 changed files with 5 additions and 5 deletions
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selfdrive/controls/controlsd.py
+5 -5
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@@ -262,9 +262,9 @@ class Controls:
if not self.dp_panda_no_gps and not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
if not self.dp_panda_no_gps and not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
if not self.dp_panda_no_gps and not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
if log.PandaState.FaultType.relayMalfunction in self.sm['pandaState'].faults:
self.events.add(EventName.relayMalfunction)
@@ -306,9 +306,9 @@ class Controls:
self.events.add(EventName.localizerMalfunction)
# Check if all manager processes are running
not_running = set(p.name for p in self.sm['managerState'].processes if not p.running)
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
# not_running = set(p.name for p in self.sm['managerState'].processes if not p.running)
# if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
# self.events.add(EventName.processNotRunning)
# Only allow engagement with brake pressed when stopped behind another stopped car
if not self.sm['dragonConf'].dpAtl and CS.brakePressed and self.sm['longitudinalPlan'].vTargetFuture >= STARTING_TARGET_SPEED \