diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index 33ac2fe088..3ff768ba06 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -358,6 +358,9 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ eph.setAge(data->e_n()); eph.setP4(data->p4()); eph.setSvURA(glonass_URA_lookup.at(data->f_t())); + if (msg->sv_id() != data->n()) { + LOGE("SV_ID != SLOT_NUMBER: %d %d", msg->sv_id(), data->n()) + } eph.setSvType(data->m()); } @@ -371,13 +374,6 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // the year can be fetched later in laika (note rollovers and leap year) uint8_t n_4 = data->n_4(); uint16_t year = get_glonass_year(n_4, current_day); - if (current_day > 1461) { - // impossible day within last 4 year, reject ephemeris - // TODO: check if this can be detected via hamming code - LOGE("INVALID DATA: current day out of range: %d, %d", current_day, n_4); - glonass_strings[msg->sv_id()].clear(); - return kj::Array(); - } uint16_t last_leap_year = 1996 + 4*(n_4-1); uint16_t days_till_this_year = (year - last_leap_year)*365;