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Update tinygrad_modeld.py

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firestar5683
2025-12-02 16:57:21 -06:00
parent 9eab9cd574
commit 1c91819689
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frogpilot/tinygrad_modeld/tinygrad_modeld.py
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@@ -46,6 +46,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
plan = model_output['plan'][0]
if 'planplus' in model_output:
plan = plan + RECOVERY_POWER*model_output['planplus'][0]
cloudlog.error(f"planplus applied: shape {model_output['planplus'].shape}, RECOVERY_POWER {RECOVERY_POWER}")
desired_accel, should_stop = get_accel_from_plan_tomb_raider(plan[:,Plan.VELOCITY][:,0],
plan[:,Plan.ACCELERATION][:,0],
ModelConstants.T_IDXS,