Fallback publish calib (commaai#1392)

* if no inputs still publish * better
rafcabezas · Apr 18, 2020 · 28d8b4a · 28d8b4a
1 parent 02e4745
commit 28d8b4a
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
@@ -147,6 +147,11 @@ def calibrationd_thread(sm=None, pm=None):
   while 1:
     sm.update()
 
+    # if no inputs still publish calibration
+    if not sm.updated['carState'] and not sm.updated['cameraOdometry']:
+      calibrator.send_data(pm)
+      continue
+
     if sm.updated['carState']:
       calibrator.handle_v_ego(sm['carState'].vEgo)
       if send_counter % 25 == 0:
@@ -159,6 +164,7 @@ def calibrationd_thread(sm=None, pm=None):
                                           sm['cameraOdometry'].transStd,
                                           sm['cameraOdometry'].rotStd)
 
+
       if DEBUG and new_vp is not None:
         print('got new vp', new_vp)