From 08401a96c2e2141cef8a4d60111f64da3ffd6403 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 6 Apr 2026 14:15:38 -0700 Subject: [PATCH] modeld: frame delay (#37731) * Frame delay * Multiply * If replay * For long too * DT_MDL / 2 * Shorten comment * Just 50ms * Remove REPLAY const --- selfdrive/modeld/modeld.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 07c3af4b7..82e750cf8 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -405,7 +405,9 @@ def main(demo=False): drivingdata_send = messaging.new_message('drivingModelData') posenet_send = messaging.new_message('cameraOdometry') - action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego) + frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average + action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state) + action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego) prev_action = action fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,