Laikad: dont log when filter is not initialized

3 years ago · f10283072e
parent 12f8237bfb
commit f10283072e
1 changed files with 3 additions and 2 deletions
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -141,8 +141,9 @@ class Laikad:
    # Check time and outputs are valid
    valid = self.kf_valid(t)
    if not all(valid):
-
-      if not valid[1]:
+      if not valid[0]:  # Filter not initialized
+        pass
+      elif not valid[1]:
        cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
      elif not valid[2]:
        cloudlog.error("Gnss kalman filter state is nan")