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quick fix for some C3 devices (sensorsOK = False in some case)

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dragonpilot
2021-12-29 15:03:12 +10:00
committed by GitHub
parent 5f3bb02102
commit 5f03487233
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/controlsd.py
+2 -2
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@@ -284,10 +284,10 @@ class Controls:
if not self.sm['lateralPlan'].mpcSolutionValid:
self.events.add(EventName.steerTempUnavailable if self.sm['dragonConf'].dpAtl else EventName.plannerError)
if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if not self.dp_jetson 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_jetson and not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)