From b88d7c89fae448068aeaca65706d99aa145c8a74 Mon Sep 17 00:00:00 2001
From: Gijs Koning <gijs-koning@live.nl>
Date: Wed, 6 Jul 2022 19:01:19 +0200
Subject: [PATCH] laikad: Filter unwanted pseudoranges (#25051)

Filter unwanted pseudoranges
---
 selfdrive/locationd/laikad.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 0df48dd893..40519da7bc 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -103,6 +103,9 @@ class Laikad:
           self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
 
       new_meas = read_raw_ublox(report)
+      # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
+      new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
+
       processed_measurements = process_measurements(new_meas, self.astro_dog)
 
       est_pos = self.get_est_pos(t, processed_measurements)