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locationd: disable falling device detector (#23431)

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pull/23432/head
Adeeb Shihadeh 3 years ago committed by GitHub
parent 86d730774d
commit ef225e3e35
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1 changed files with 2 additions and 1 deletions
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  1. 3
      selfdrive/locationd/locationd.cc

3
selfdrive/locationd/locationd.cc
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@ -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) { if (sensor_reading.getSensor() == SENSOR_ACCELEROMETER && sensor_reading.getType() == SENSOR_TYPE_ACCELEROMETER) {
auto v = sensor_reading.getAcceleration().getV(); auto v = sensor_reading.getAcceleration().getV();
// TODO: reduce false positives and re-enable this check
// check if device fell, estimate 10 for g // 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 // 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]); auto meas = Vector3d(-v[2], -v[1], -v[0]);
if (meas.norm() < ACCEL_SANITY_CHECK) { if (meas.norm() < ACCEL_SANITY_CHECK) {

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