From 85a7ceaf079ed6c8cb804403f33706a386ca9b51 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 6 Aug 2020 14:46:19 -0700 Subject: [PATCH] persist falling until message sent (#1982) Co-authored-by: Adeeb Shihadeh --- selfdrive/locationd/locationd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py index c222e20e6e..be78176844 100755 --- a/selfdrive/locationd/locationd.py +++ b/selfdrive/locationd/locationd.py @@ -149,6 +149,7 @@ class Localizer(): fix.posenetOK = not (std_spike and self.car_speed > 5) fix.deviceStable = not self.device_fell + self.device_fell = False #fix.gpsWeek = self.time.week #fix.gpsTimeOfWeek = self.time.tow @@ -245,7 +246,7 @@ class Localizer(): if sensor_reading.sensor == 1 and sensor_reading.type == 1: # check if device fell, estimate 10 for g # 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving - self.device_fell = abs(sensor_reading.acceleration.v[0] - 10) > 40 + self.device_fell = self.device_fell or (np.linalg.norm(np.array(sensor_reading.acceleration.v) - np.array([10, 0, 0])) > 40) self.acc_counter += 1 if self.acc_counter % SENSOR_DECIMATION == 0: