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@ -356,16 +356,16 @@ class SelfdriveD: |
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if (planner_fcw or model_fcw) and not self.CP.notCar: |
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self.events.add(EventName.fcw) |
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# GPS checks |
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gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0 |
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if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500): |
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self.events.add(EventName.noGps) |
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if gps_ok: |
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self.distance_traveled = 0 |
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self.distance_traveled += abs(CS.vEgo) * DT_CTRL |
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# TODO: fix simulator |
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if not SIMULATION or REPLAY: |
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# Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes |
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gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0 |
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if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500): |
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self.events.add(EventName.noGps) |
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if gps_ok: |
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self.distance_traveled = 0 |
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self.distance_traveled += abs(CS.vEgo) * DT_CTRL |
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if self.sm['modelV2'].frameDropPerc > 20: |
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self.events.add(EventName.modeldLagging) |
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