From d252db9da92d1c30cb62845e7ddbd6638fdb6578 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Wed, 5 Aug 2020 10:44:40 -0700 Subject: [PATCH] persist falling test old-commit-hash: 8cad9375d336ca5276f673296d0e64ff14efe0de --- selfdrive/locationd/locationd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py index 369b68b887..23ec56b879 100755 --- a/selfdrive/locationd/locationd.py +++ b/selfdrive/locationd/locationd.py @@ -149,6 +149,7 @@ class Localizer(): fix.posenetOK = not (std_spike and self.car_speed > 5) fix.deviceStable = not self.device_fell + self.device_fell = False #fix.gpsWeek = self.time.week #fix.gpsTimeOfWeek = self.time.tow @@ -245,7 +246,7 @@ class Localizer(): if sensor_reading.sensor == 1 and sensor_reading.type == 1: # check if device fell, estimate 10 for g # 40g is a good filter for falling detection, no false positives in 20k minutes of driving - self.device_fell = abs(sensor_reading.acceleration.v[0] - 10) > 40 + self.device_fell = self.device_fell or (np.linalg.norm(np.array(sensor_reading.acceleration.v) - np.array([10, 0, 0])) > 40) self.acc_counter += 1 if self.acc_counter % SENSOR_DECIMATION == 0: