From 6d25f66cf1cd8e3912719b79a44c4ff0fa013328 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 14 Jun 2023 19:54:51 -0700 Subject: [PATCH] Laikad: Need to understand constellationId to understand clock (#28552) Need to understand constellationId to understand clock --- selfdrive/locationd/laikad.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 836de1696d..ed922f89c3 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -196,11 +196,11 @@ class Laikad: try: constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] + report_time = self.gps_time_from_qcom_report(gnss_msg) except NotImplementedError: - good_constellation = False + return False # Garbage timestamps with week > 32767 are sometimes sent by module. # This is an issue with gpsTime and GLONASS time. - report_time = self.gps_time_from_qcom_report(gnss_msg) good_week = report_time.week < np.iinfo(np.int16).max return good_constellation and good_week elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: