board: respect 10 second ublox init time

old-commit-hash: fff5cde352
4 years ago · 5de49edc10
parent ee090e1981
commit 5de49edc10
1 changed files with 4 additions and 1 deletions
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -499,7 +499,10 @@ void pigeon_thread() {
    if (ignition && recv.length() >= 3) {
      if (recv[0] == (char)ublox::PREAMBLE1 && recv[1] == (char)ublox::PREAMBLE2){
        const char msg_cls = recv[2];
-        last_recv_time[msg_cls] = nanos_since_boot();
+        uint64_t t = nanos_since_boot();
+        if (t > last_recv_time[msg_cls]){
+          last_recv_time[msg_cls] = t;
+        }
      }
    }