update laikad

3 years ago · da9030a466
parent 5a2adb9c9c
commit da9030a466
1 changed files with 4 additions and 1 deletions
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -409,8 +409,11 @@ def main(sm=None, pm=None, qc=None):

      msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay)
      if msg is None:
+        # TODO: beautify this, locationd needs a valid message, otherwise engagement
+        # will not be allowed, either send nothing or a valid msg
+        # check this with replay tests
        msg = messaging.new_message("gnssMeasurements")
-        msg.valid = False
+        msg.valid = True

      pm.send('gnssMeasurements', msg)