From a4520f75a3970f668ab832317815c7806b1005af Mon Sep 17 00:00:00 2001
From: ajouatom <ajouatom@gmail.com>
Date: Tue, 25 Feb 2025 19:20:58 +0900
Subject: [PATCH] fix lat lon

---
 selfdrive/navd/map_renderer.cc | 2 +-
 selfdrive/navd/navd.py         | 2 +-
 selfdrive/ui/qt/maps/map.cc    | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index 85bef39..d8c8f3b 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -206,7 +206,7 @@ void MapRenderer::publish(const double render_time, const bool loaded) {
   QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
 
   auto carrotMan = (*sm)["carrotMan"].getCarrotMan();
-  bool valid = loaded && (carrotMan.getXPosLat() > 0.0);
+  bool valid = loaded && (carrotMan.getXPosLat() != 0.0 && carrotMan.getXPosLon() != 0.0);
   ever_loaded = ever_loaded || loaded;
   uint64_t ts = nanos_since_boot();
   VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 8d5f8c1..28cde32 100644
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -96,7 +96,7 @@ class RouteEngine:
   def update_location(self):
 
     carrot_man = self.sm['carrotMan']
-    if carrot_man.xPosLat > 0.0:
+    if carrot_man.xPosLat != 0.0 and carrot_man.xPosLon != 0.0:
       self.last_bearing = carrot_man.xPosAngle;
       self.last_position = Coordinate(carrot_man.xPosLat, carrot_man.xPosLon)
       self.localizer_valid = self.gps_ok = True
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 6489cdc..6630e04 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -185,7 +185,7 @@ void MapWindow::updateState(const UIState &s) {
   //bool active_carrot_man = carrotMan.getActiveCarrot() > 1;
 
   //printf("CarrotMan: %f %f %f %f\n", carrotMan.getXPosLat(), carrotMan.getXPosLon(), carrotMan.getXPosAngle(), carrotMan.getXPosSpeed());
-  if (carrotMan.getXPosLat() > 0.0) {
+  if (carrotMan.getXPosLat() != 0.0 && carrotMan.getXPosLon() != 0.0) {
     lat = carrotMan.getXPosLat();
     lon = carrotMan.getXPosLon();
     bearing = carrotMan.getXPosAngle();