From 4d9200f307119fb653af2a2512b59ac70a31a2c8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 9 Jul 2020 20:55:56 -0700 Subject: [PATCH] only check frame age for posenet too old-commit-hash: c8f3ff8913ce7e18d755ae8015a27af3365029e9 --- selfdrive/modeld/models/driving.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 9e0d1d3feb..9ac7604195 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -332,7 +332,7 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, posenetd.setFrameId(vipc_frame_id); uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0; - event.setValid((frame_age < MAX_FRAME_AGE) && sm_alive_valid); + event.setValid(frame_age < MAX_FRAME_AGE); pm.send("cameraOdometry", msg); }