navmodeld: only render necessary frames (#26698)

old-commit-hash: 6e0893299a

selfdrive/modeld/navmodeld.cc

@@ -21,7 +21,6 @@ void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
   while (!do_exit) {
     VisionBuf *buf = vipc_client.recv(&extra);
     if (buf == nullptr) continue;
-    if (extra.frame_id < last_frame_id + 10) continue;  // Run at 2Hz
 
     double t1 = millis_since_boot();
     NavModelResult *model_res = navmodel_eval_frame(&model, buf);

selfdrive/navd/map_renderer.cc

@@ -79,7 +79,7 @@ void MapRenderer::msgUpdate() {
     auto orientation = location.getCalibratedOrientationNED();
 
     bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
-    if (localizer_valid) {
+    if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % 10) == 0) {
       updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
     }
   }