Merge branch 'devel' of https://github.com/commaai/openpilot into testing

panda/board/boards/uno.h

@@ -56,7 +56,12 @@ void uno_set_gps_load_switch(bool enabled) {
 }
 
 void uno_set_bootkick(bool enabled){
-  set_gpio_output(GPIOB, 14, !enabled);
+  if(enabled){
+    set_gpio_output(GPIOB, 14, false);
+  } else {
+    // We want the pin to be floating, not forced high!
+    set_gpio_mode(GPIOB, 14, MODE_INPUT);
+  }
 }
 
 void uno_bootkick(void) {

selfdrive/boardd/boardd.cc

@@ -476,6 +476,7 @@ void pigeon_thread() {
 
   // ubloxRaw = 8042
   PubMaster pm({"ubloxRaw"});
+  bool ignition_last = false;
 
 #ifdef QCOM2
   Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
@@ -483,7 +484,6 @@ void pigeon_thread() {
   Pigeon * pigeon = Pigeon::connect(panda);
 #endif
 
-  pigeon->init();
   // dp
   #ifdef DisableRelay
   panda->set_safety_model(cereal::CarParams::SafetyModel::TOYOTA);
@@ -492,13 +492,23 @@ void pigeon_thread() {
     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);
   }

selfdrive/modeld/models/driving.cc

@@ -311,7 +311,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
                      float model_execution_time) {
   // make msg
   MessageBuilder msg;
-  auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
+  auto framed = msg.initEvent().initModelV2();
   uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   framed.setFrameId(vipc_frame_id);
   framed.setFrameAge(frame_age);
@@ -393,7 +393,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
 
   uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   MessageBuilder msg;
-  auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
+  auto framed = msg.initEvent().initModel();
   framed.setFrameId(vipc_frame_id);
   framed.setFrameAge(frame_age);
   framed.setFrameDropPerc(frame_drop * 100);

selfdrive/modeld/models/driving.h

@@ -39,7 +39,6 @@
 #define POSE_SIZE 12
 
 #define MODEL_FREQ 20
-#define MAX_FRAME_DROP 0.05
 
 struct ModelDataRaw {
     float *plan;