send initial calibration packet immediately

old-commit-hash: 74801bd216
5 years ago · 218c3d3de7
parent 7cee5aae63
commit 218c3d3de7
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@ -149,7 +149,8 @@ def calibrationd_thread(sm=None, pm=None):
  calibrator = Calibrator(param_put=True)
  while 1:
-    sm.update(100)
+    timeout = 0 if sm.frame == -1 else 100
    sm.update(timeout)
    if sm.updated['cameraOdometry']:
      calibrator.handle_v_ego(sm['carState'].vEgo)