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Don't re-init pigeon while offroad (#2687)

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* don't re-init pigeon while offroad

* we don't need this
This commit is contained in:
robbederks
2020-12-03 17:54:46 +01:00
committed by GitHub
parent e7c182b0da
commit 80dbda5342
1 changed files with 13 additions and 4 deletions
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selfdrive/boardd/boardd.cc
+13 -4
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@@ -474,6 +474,7 @@ void pigeon_thread() {
// ubloxRaw = 8042
PubMaster pm({"ubloxRaw"});
bool ignition_last = false;
#ifdef QCOM2
Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
@@ -481,19 +482,27 @@ void pigeon_thread() {
Pigeon * pigeon = Pigeon::connect(panda);
#endif
pigeon->init();
while (!do_exit && panda->connected) {
std::string recv = pigeon->receive();
if (recv.length() > 0) {
if (recv[0] == (char)0x00){
LOGW("received invalid ublox message, resetting panda GPS");
pigeon->init();
if (ignition) {
LOGW("received invalid ublox message while onroad, resetting panda GPS");
pigeon->init();
}
} else {
pigeon_publish_raw(pm, recv);
}
}
// init pigeon on rising ignition edge
// since it was turned off in low power mode
if(ignition && !ignition_last) {
pigeon->init();
}
ignition_last = ignition;
// 10ms - 100 Hz
usleep(10*1000);
}