From 28d8b4abac1a97905a74ea126d275125d2e93cd0 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Fri, 17 Apr 2020 17:05:54 -0700
Subject: [PATCH] Fallback publish calib (#1392)

* if no inputs still publish

* better
---
 selfdrive/locationd/calibrationd.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index fdbc4b1a6524ca..25ddb8e225b558 100755
--- 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)