RETROPILOT FIX: white panda support by ignoring uBloxRaw state in NOS…

…ENSOR mode
florianbrede-ayet · Apr 12, 2021 · 50fc9e5 · 50fc9e5
1 parent 0354d51
commit 50fc9e5
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -54,7 +54,9 @@ def __init__(self, sm=None, pm=None, can_sock=None):
 
     self.sm = sm
     if self.sm is None:
-      ignore = ['ubloxRaw', 'driverCameraState', 'managerState'] if SIMULATION else None
+      ignore = ['ubloxRaw'] if NOSENSOR else None
+      ignore = ['ubloxRaw', 'driverCameraState', 'managerState'] if SIMULATION else ignore
+
       self.sm = messaging.SubMaster(['deviceState', 'pandaState', 'modelV2', 'liveCalibration', 'ubloxRaw',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                      'roadCameraState', 'driverCameraState', 'managerState', 'liveParameters', 'radarState'], ignore_alive=ignore)