From b3cf60cd0bf502b11a3fb6c24bd3ae2324198c2e Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 9 Feb 2021 19:31:30 -0800
Subject: [PATCH] use gpsOK flag from locationd

---
 selfdrive/ui/sidebar.cc |  2 +-
 selfdrive/ui/ui.cc      | 15 ++++-----------
 selfdrive/ui/ui.hpp     |  2 +-
 3 files changed, 6 insertions(+), 13 deletions(-)

diff --git a/selfdrive/ui/sidebar.cc b/selfdrive/ui/sidebar.cc
index b2dc48feac..df609d2bbc 100644
--- a/selfdrive/ui/sidebar.cc
+++ b/selfdrive/ui/sidebar.cc
@@ -124,7 +124,7 @@ static void draw_panda_metric(UIState *s) {
   }
 #ifdef QCOM2
   else if (s->started) {
-    panda_severity = s->scene.cnoAvg > 30 ? 0 : 1;
+    panda_severity = s->scene.gpsOK ? 0 : 1;
     panda_message = util::string_format("SAT CNT\n%d", s->scene.satelliteCount);
   }
 #endif
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 130e04112e..af573de12d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -41,7 +41,7 @@ static void ui_init_vision(UIState *s) {
 
 
 void ui_init(UIState *s) {
-  s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal", "frame",
+  s->sm = new SubMaster({"modelV2", "controlsState", "uiLayoutState", "liveCalibration", "radarState", "thermal", "frame", "liveLocationKalman",
                          "health", "carParams", "driverState", "driverMonitoringState", "sensorEvents", "carState", "ubloxGnss"});
 
   s->started = false;
@@ -174,19 +174,12 @@ static void update_sockets(UIState *s) {
   if (sm.updated("ubloxGnss")) {
     auto data = sm["ubloxGnss"].getUbloxGnss();
     if (data.which() == cereal::UbloxGnss::MEASUREMENT_REPORT) {
-
-      auto measurements = data.getMeasurementReport().getMeasurements();
-      if (measurements.size()){
-        for (auto m : measurements) {
-          scene.cnoAvg += m.getCno();
-        }
-        scene.cnoAvg /= measurements.size();
-      } else {
-        scene.cnoAvg = 0;
-      }
       scene.satelliteCount = data.getMeasurementReport().getNumMeas();
     }
   }
+  if (sm.updated("liveLocationKalman")) {
+    scene.gpsOK = sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK();
+  }
   if (sm.updated("carParams")) {
     s->longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
diff --git a/selfdrive/ui/ui.hpp b/selfdrive/ui/ui.hpp
index 61810d5732..c0570f6d43 100644
--- a/selfdrive/ui/ui.hpp
+++ b/selfdrive/ui/ui.hpp
@@ -120,7 +120,7 @@ typedef struct UIScene {
 
   // gps
   int satelliteCount;
-  int cnoAvg;
+  bool gpsOK;
 
   // modelV2
   float lane_line_probs[4];