send initial calibration packet immediately

5 years ago · 74801bd216
parent 9fa56b4eab
commit 74801bd216
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@ -149,7 +149,8 @@ def calibrationd_thread(sm=None, pm=None):
  calibrator = Calibrator(param_put=True)

  while 1:
-    sm.update(100)
+    timeout = 0 if sm.frame == -1 else 100
+    sm.update(timeout)

    if sm.updated['cameraOdometry']:
      calibrator.handle_v_ego(sm['carState'].vEgo)