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persist falling test

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old-commit-hash: 8cad9375d336ca5276f673296d0e64ff14efe0de
This commit is contained in:
Harald Schafer
2020-08-05 10:44:40 -07:00
parent 1bc3801c9b
commit d252db9da9
1 changed files with 2 additions and 1 deletions
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3
selfdrive/locationd/locationd.py
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@@ -149,6 +149,7 @@ class Localizer():
fix.posenetOK = not (std_spike and self.car_speed > 5)
fix.deviceStable = not self.device_fell
self.device_fell = False
#fix.gpsWeek = self.time.week
#fix.gpsTimeOfWeek = self.time.tow
@@ -245,7 +246,7 @@ class Localizer():
if sensor_reading.sensor == 1 and sensor_reading.type == 1:
# check if device fell, estimate 10 for g
# 40g is a good filter for falling detection, no false positives in 20k minutes of driving
self.device_fell = abs(sensor_reading.acceleration.v[0] - 10) > 40
self.device_fell = self.device_fell or (np.linalg.norm(np.array(sensor_reading.acceleration.v) - np.array([10, 0, 0])) > 40)
self.acc_counter += 1
if self.acc_counter % SENSOR_DECIMATION == 0: