Fix #1545, sensor alert on startup

5 years ago · 9f0eac9089
parent b62ce27483
commit 9f0eac9089
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -200,7 +200,8 @@ class Controls:
    if not self.sm['pathPlan'].mpcSolutionValid:
      self.events.add(EventName.plannerError)
    if not self.sm['liveLocationKalman'].inputsOK and os.getenv("NOSENSOR") is None:
-      self.events.add(EventName.sensorDataInvalid)
+      if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
+        self.events.add(EventName.sensorDataInvalid)
    if not self.sm['pathPlan'].paramsValid:
      self.events.add(EventName.vehicleModelInvalid)
    if not self.sm['liveLocationKalman'].posenetOK: