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Laikad: Need to understand constellationId to understand clock (#28552)

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Need to understand constellationId to understand clock
pull/28363/head
Harald Schäfer 2 years ago committed by GitHub
parent c453771492
commit 6d25f66cf1
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1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/locationd/laikad.py

4
selfdrive/locationd/laikad.py
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@ -196,11 +196,11 @@ class Laikad:
try: try:
constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
report_time = self.gps_time_from_qcom_report(gnss_msg)
except NotImplementedError: except NotImplementedError:
good_constellation = False return False
# Garbage timestamps with week > 32767 are sometimes sent by module. # Garbage timestamps with week > 32767 are sometimes sent by module.
# This is an issue with gpsTime and GLONASS time. # 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 good_week = report_time.week < np.iinfo(np.int16).max
return good_constellation and good_week return good_constellation and good_week
elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:

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