From 92beda6d15e1fc96e9e435a013d4706177e999ec Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Thu, 3 Dec 2020 17:02:18 +0100
Subject: [PATCH] don't re-init pigeon while offroad

---
 selfdrive/boardd/boardd.cc | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 1033c082567ba97..21abaa8e88707bf 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -474,6 +474,7 @@ void pigeon_thread() {
 
   // ubloxRaw = 8042
   PubMaster pm({"ubloxRaw"});
+  bool ignition_last = false;
 
 #ifdef QCOM2
   Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
@@ -481,19 +482,31 @@ void pigeon_thread() {
   Pigeon * pigeon = Pigeon::connect(panda);
 #endif
 
-  pigeon->init();
+  if (ignition) {
+    pigeon->init();
+  }
 
   while (!do_exit && panda->connected) {
     std::string recv = pigeon->receive();
     if (recv.length() > 0) {
       if (recv[0] == (char)0x00){
-        LOGW("received invalid ublox message, resetting panda GPS");
-        pigeon->init();
+        if (ignition) {
+          LOGW("received invalid ublox message while onroad, resetting panda GPS");
+          pigeon->init();
+        }
       } else {
         pigeon_publish_raw(pm, recv);
       }
     }
 
+    // init pigeon on rising ignition edge
+    // since it was turned off in low power mode
+    if(ignition && !ignition_last) {
+      pigeon->init();
+    }
+
+    ignition_last = ignition;
+
     // 10ms - 100 Hz
     usleep(10*1000);
   }