Calibrationd: check size of valid_blocks without current (commaai#23223)

budney · Dec 14, 2021 · cd190dc · cd190dc
1 parent 40dcc63
commit cd190dc
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
@@ -106,7 +106,7 @@ def get_valid_idxs(self, ):
     return before_current + after_current
 
   def update_status(self):
-    if self.valid_blocks > 0:
+    if len(self.get_valid_idxs()) > 0:
       max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0))
       min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0))
       self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
@@ -163,7 +163,7 @@ def handle_cam_odom(self, trans, rot, trans_std, rot_std):
       self.block_idx += 1
       self.valid_blocks = max(self.block_idx, self.valid_blocks)
       self.block_idx = self.block_idx % INPUTS_WANTED
-    if self.valid_blocks > 0:
+    if len(self.get_valid_idxs()) > 0:
       self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0)
 
     self.update_status()