quectel: move vertical accuracy sanity check (#27819)

* Update rawgpsd.py

* remove from locationd

* Update system/sensord/rawgps/rawgpsd.py

* flip
old-commit-hash: c9804f8ec2

selfdrive/locationd/locationd.cc

@@ -303,13 +303,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
   bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
 
-  // quectel gps verticalAccuracy is clipped to 500
+  if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
-  bool gps_accuracy_insane_quectel = false;
-  if (!ublox_available) {
-    gps_accuracy_insane_quectel = log.getVerticalAccuracy() == 500;
-  }
-
-  if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane || gps_accuracy_insane_quectel) {
     //this->gps_valid = false;
     this->determine_gps_mode(current_time);
     return;

system/sensord/rawgps/rawgpsd.py

@@ -270,7 +270,6 @@ def main() -> NoReturn:
 
       msg = messaging.new_message('gpsLocation')
       gps = msg.gpsLocation
-      gps.flags = 1
       gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
       gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
       gps.altitude = report["q_FltFinalPosAlt"]
@@ -283,6 +282,8 @@ def main() -> NoReturn:
       gps.verticalAccuracy = report["q_FltVdop"]
       gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
+      # quectel gps verticalAccuracy is clipped to 500, set invalid if so
+      gps.flags = 1 if gps.verticalAccuracy != 500 else 0
 
       pm.send('gpsLocation', msg)