From ef225e3e3515c449ba9f69d6e28c02912f1579c3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 6 Jan 2022 12:01:14 -0800
Subject: [PATCH] locationd: disable falling device detector (#23431)

---
 selfdrive/locationd/locationd.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 0350625a91..35fbd90e56 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -232,9 +232,10 @@ void Localizer::handle_sensors(double current_time, const capnp::List<cereal::Se
     if (sensor_reading.getSensor() == SENSOR_ACCELEROMETER && sensor_reading.getType() == SENSOR_TYPE_ACCELEROMETER) {
       auto v = sensor_reading.getAcceleration().getV();
 
+      // TODO: reduce false positives and re-enable this check
       // check if device fell, estimate 10 for g
       // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
-      this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
+      //this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
 
       auto meas = Vector3d(-v[2], -v[1], -v[0]);
       if (meas.norm() < ACCEL_SANITY_CHECK) {