From 1e55a9b924ba619af517850cf9fcf350c559ef3d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 9 Mar 2021 17:54:40 +0100
Subject: [PATCH] boardd: 0.9s timeout, only log no reset

old-commit-hash: d66661fa67783eda78fa51f529c91e61a4c21bbd
---
 selfdrive/boardd/boardd.cc | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index acadf9c74c..dfde9bc478 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -486,8 +486,8 @@ void pigeon_thread() {
 
   std::unordered_map<char, uint64_t> last_recv_time;
   std::unordered_map<char, int64_t> cls_max_dt = {
-    {(char)ublox::CLASS_NAV, int64_t(500000000ULL)}, // 0.5s
-    {(char)ublox::CLASS_RXM, int64_t(1000000000ULL)}, // 1.0s
+    {(char)ublox::CLASS_NAV, int64_t(900000000ULL)}, // 0.9s
+    {(char)ublox::CLASS_RXM, int64_t(900000000ULL)}, // 0.9s
   };
 
   while (!do_exit && panda->connected) {
@@ -510,7 +510,8 @@ void pigeon_thread() {
       int64_t dt = (int64_t)nanos_since_boot() - (int64_t)last_recv_time[msg_cls];
       if (ignition_last && ignition && dt > max_dt) {
         LOGE("ublox receive timeout, msg class: 0x%02x, dt %llu, resetting panda GPS", msg_cls, dt);
-        need_reset = true;
+        // TODO: turn on reset after verification of logs
+        // need_reset = true;
       }
     }