Fix test

selfdrive/locationd/lagd.py

@@ -21,6 +21,7 @@ MIN_OKAY_WINDOW_SEC = 25.0
 MIN_RECOVERY_BUFFER_SEC = 2.0
 MIN_VEGO = 15.0
 MIN_ABS_YAW_RATE = np.radians(1.0)
+MAX_YAW_RATE_SANITY_CHECK = 1.0 # rad/s
 MIN_NCC = 0.95
 MAX_LAG = 1.0
 
@@ -243,7 +244,7 @@ class LateralLagEstimator:
       for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t]
     )
     calib_valid = self.calibrator.calib_valid
-    sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < 1.0 and self.yaw_rate_std < 1.0
+    sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < MAX_YAW_RATE_SANITY_CHECK and self.yaw_rate_std < MAX_YAW_RATE_SANITY_CHECK
     la_valid = np.abs(la_actual_pose) < 2.0 and np.abs(la_desired - la_actual_pose) < 0.5
     okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered and calib_valid and sensors_valid and la_valid
 

selfdrive/locationd/test/test_lagd.py

@@ -3,7 +3,7 @@ import numpy as np
 import time
 import pytest
 
-from cereal import messaging
+from cereal import messaging, log
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
                                                BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
@@ -23,8 +23,8 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti
 
   for i in range(n_frames):
     t = i * estimator.dt
-    desired_la = np.cos(t)
-    actual_la = np.cos(t - lag_frames * estimator.dt)
+    desired_la = np.cos(t) * 0.1
+    actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1
 
     # if sample is masked out, set it to desired value (no lag)
     rejected = random.uniform(0, 1) < rejection_threshold
@@ -41,7 +41,9 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti
       (t, "livePose", mocker.Mock(orientationNED=ZeroMock(),
                                 velocityDevice=ZeroMock(),
                                 accelerationDevice=ZeroMock(),
-                                angularVelocityDevice=ZeroMock(z=actual_yr))),
+                                angularVelocityDevice=ZeroMock(z=actual_yr, valid=True),
+                                posenetOK=True, inputsOK=True)),
+      (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
     ]
     for t, w, m in msgs:
       estimator.handle_log(t, w, m)