From 264015c584a0a010ba5f63af67da2e6bddebbea4 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 22 Jun 2020 14:27:07 -0700
Subject: [PATCH] cleanup no sensor data alert (#1760)

---
 .gitignore                       | 2 ++
 cereal                           | 2 +-
 selfdrive/controls/controlsd.py  | 2 +-
 selfdrive/locationd/locationd.py | 1 +
 4 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/.gitignore b/.gitignore
index 31ced88ca9..b8d9a39b4a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -64,3 +64,5 @@ pandaextra
 
 .mypy_cache/
 flycheck_*
+
+cppcheck_report.txt
diff --git a/cereal b/cereal
index c0c3cc16b2..8d5230e59b 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit c0c3cc16b2ee2aafa7d13b67563463be663c240c
+Subproject commit 8d5230e59b0ed7c93c66863d0cd19e5f180e417c
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 2798ec236d..3fbf4aa5dd 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -202,7 +202,7 @@ class Controls:
       self.events.add(EventName.commIssue)
     if not self.sm['pathPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not self.sm['liveLocationKalman'].inputsOK and os.getenv("NOSENSOR") is None:
+    if not self.sm['liveLocationKalman'].sensorsOK and os.getenv("NOSENSOR") is None:
       if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
         self.events.add(EventName.sensorDataInvalid)
     if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and os.getenv("NOSENSOR") is None:
diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index 155174aa60..cf621386dc 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -324,6 +324,7 @@ def locationd_thread(sm, pm, disabled_logs=None):
 
       msg.liveLocationKalman = localizer.liveLocationMsg(t * 1e-9)
       msg.liveLocationKalman.inputsOK = sm.all_alive_and_valid()
+      msg.liveLocationKalman.sensorsOK = sm.alive['sensorEvents'] and sm.valid['sensorEvents']
 
       gps_age = (t / 1e9) - localizer.last_gps_fix
       msg.liveLocationKalman.gpsOK = gps_age < 1.0