ublox_day_fix

selfdrive/locationd/ublox_msg.cc

@@ -358,9 +358,6 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
     eph.setAge(data->e_n());
     eph.setP4(data->p4());
     eph.setSvURA(glonass_URA_lookup.at(data->f_t()));
-    if (msg->sv_id() != data->n()) {
-      LOGE("SV_ID != SLOT_NUMBER: %d %d", msg->sv_id(), data->n())
-    }
     eph.setSvType(data->m());
   }
 
@@ -374,6 +371,13 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
     // the year can be fetched later in laika (note rollovers and leap year)
     uint8_t n_4 = data->n_4();
     uint16_t year = get_glonass_year(n_4, current_day);
+    if (current_day > 1461) {
+      // impossible day within last 4 year, reject ephemeris
+      // TODO: check if this can be detected via hamming code
+      LOGE("INVALID DATA: current day out of range: %d, %d", current_day, n_4);
+      glonass_strings[msg->sv_id()].clear();
+      return kj::Array<capnp::word>();
+    }
 
     uint16_t last_leap_year = 1996 + 4*(n_4-1);
     uint16_t days_till_this_year = (year - last_leap_year)*365;