disable LDW when calibration is incomplete (#984)

5 years ago · f13c5d74aa
parent 6f703eaf4e
commit f13c5d74aa
1 changed files with 2 additions and 1 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -346,7 +346,8 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
  CC.hudControl.leftLaneVisible = bool(left_lane_visible)

  recent_blinker = (sm.frame - last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
-  ldw_allowed = CS.vEgo > 31 * CV.MPH_TO_MS and not recent_blinker and is_ldw_enabled and not isActive(state)
+  calibrated = sm['liveCalibration'].calStatus == Calibration.CALIBRATED
+  ldw_allowed = CS.vEgo > 31 * CV.MPH_TO_MS and not recent_blinker and is_ldw_enabled and not isActive(state) and calibrated

  md = sm['model']
  if len(md.meta.desirePrediction):