paramsd: stricter checks on locationd yaw rate outputs

selfdrive/locationd/paramsd.py

@@ -34,13 +34,14 @@ class ParamsLearner:
 
   def handle_log(self, t, which, msg):
     if which == 'liveLocationKalman':
-
       yaw_rate = msg.angularVelocityCalibrated.value[2]
       yaw_rate_std = msg.angularVelocityCalibrated.std[2]
+
       yaw_rate_valid = msg.angularVelocityCalibrated.valid
       yaw_rate_valid = yaw_rate_valid and math.isfinite(yaw_rate)
       yaw_rate_valid = yaw_rate_valid and math.isfinite(yaw_rate_std)
-      yaw_rate_valid = yaw_rate_valid and yaw_rate_std < 1e6
+      yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10  # rad/s
+      yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1  # rad/s
 
       if self.active:
         if msg.inputsOK and msg.posenetOK and yaw_rate_valid: