give calibrationd rt priority (#23725)

old-commit-hash: 8a0fc850b4

selfdrive/locationd/calibrationd.py

@@ -6,17 +6,20 @@ While the roll calibration is a real value that can be estimated, here we assume
 and the image input into the neural network is not corrected for roll.
 '''
 
+import gc
 import os
-from typing import NoReturn
 import numpy as np
-import cereal.messaging as messaging
+from typing import NoReturn
+
 from cereal import log
-from selfdrive.hardware import TICI
+import cereal.messaging as messaging
 from common.params import Params, put_nonblocking
+from common.realtime import set_realtime_priority
 from common.transformations.model import model_height
 from common.transformations.camera import get_view_frame_from_road_frame
 from common.transformations.orientation import rot_from_euler, euler_from_rot
 from selfdrive.config import Conversions as CV
+from selfdrive.hardware import TICI
 from selfdrive.swaglog import cloudlog
 
 MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
@@ -191,6 +194,9 @@ class Calibrator():
 
 
 def calibrationd_thread(sm=None, pm=None) -> NoReturn:
+  gc.disable()
+  set_realtime_priority(1)
+
   if sm is None:
     sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry'])