Calibration remount detector: soft disable (#27993)

* Calibration remount detector: soft disable

* Update test_calibrationd.py
old-commit-hash: a979a54cf9

selfdrive/controls/lib/events.py

@@ -719,7 +719,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   EventName.calibrationIncomplete: {
     ET.PERMANENT: calibration_incomplete_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("Calibration in Progress"),
+    ET.SOFT_DISABLE: soft_disable_alert("Device remount detected: recalibrating"),
     ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
   },
 

selfdrive/locationd/calibrationd.py

@@ -143,7 +143,7 @@ class Calibrator:
     # If spread is too high, assume mounting was changed and reset to last block.
     # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
     if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
-      self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy)
+      self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:

selfdrive/locationd/test/test_calibrationd.py

@@ -95,7 +95,7 @@ class TestCalibrationd(unittest.TestCase):
                          [0.0, 0.0, 0.0],
                          [0.0, 0.0, 0.0],
                          [1e-3, 1e-3, 1e-3])
-    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    self.assertEqual(c.valid_blocks, 1)
     np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2)
 
 if __name__ == "__main__":