From b2fb4632cdcaa2260bab292a15da8893a02b159d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 20 May 2020 11:25:27 -0700
Subject: [PATCH] Fix #1545, sensor alert on startup

old-commit-hash: 9f0eac90895d9fc4cc4ab782d61f31d3b5ab9685
---
 selfdrive/controls/controlsd.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 36de2fc6d7..18aa2c7b28 100755
--- 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: