Don't re-init pigeon while offroad (#2687)

* don't re-init pigeon while offroad

* we don't need this

selfdrive/boardd/boardd.cc

@@ -474,6 +474,7 @@ void pigeon_thread() {
 
   // ubloxRaw = 8042
   PubMaster pm({"ubloxRaw"});
+  bool ignition_last = false;
 
 #ifdef QCOM2
   Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
@@ -481,19 +482,27 @@ void pigeon_thread() {
   Pigeon * pigeon = Pigeon::connect(panda);
 #endif
 
-  pigeon->init();
-
   while (!do_exit && panda->connected) {
     std::string recv = pigeon->receive();
     if (recv.length() > 0) {
       if (recv[0] == (char)0x00){
-        LOGW("received invalid ublox message, resetting panda GPS");
+        if (ignition) {
+          LOGW("received invalid ublox message while onroad, resetting panda GPS");
           pigeon->init();
+        }
       } else {
         pigeon_publish_raw(pm, recv);
       }
     }
 
+    // init pigeon on rising ignition edge
+    // since it was turned off in low power mode
+    if(ignition && !ignition_last) {
+      pigeon->init();
+    }
+
+    ignition_last = ignition;
+
     // 10ms - 100 Hz
     usleep(10*1000);
   }