diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index b746989466..77ca9099ed 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -183,7 +183,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); int subframe_id = subframe.how()->subframe_id(); - if (subframe_id > 3) { + if (subframe_id > 3 || subframe_id < 1) { // dont parse almanac subframes return kj::Array(); } @@ -283,7 +283,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ glonass_t gl_string(&stream); int string_number = gl_string.string_number(); - if (string_number > 5 || gl_string.idle_chip()) { + if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) { // dont parse non immediate data, idle_chip == 0 return kj::Array(); }