From 401d177f5d5e97faa2ab916e76c04ec5b07eed65 Mon Sep 17 00:00:00 2001 From: whoisdomi Date: Sat, 7 Nov 2026 22:44:23 -0600 Subject: [PATCH] twitch 4 --- openpilot/selfdrive/modeld/modeld.py | 2 +- .../selfdrive/modeld/tests/test_action_curvature_threshold.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py index 0754baf747..dc9db17cef 100755 --- a/openpilot/selfdrive/modeld/modeld.py +++ b/openpilot/selfdrive/modeld/modeld.py @@ -83,7 +83,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log. lat_action_t) else: desired_accel = model_output['action'][0,1] - desired_curvature = model_output['action'][0,0] / (max(2.5, v_ego))**2 + desired_curvature = model_output['action'][0,0] / (max(1.0, v_ego))**2 stop = should_stop(v_ego, desired_accel) desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS) if v_ego > MIN_LAT_CONTROL_SPEED: diff --git a/openpilot/selfdrive/modeld/tests/test_action_curvature_threshold.py b/openpilot/selfdrive/modeld/tests/test_action_curvature_threshold.py index c25e6d21ce..10573e29eb 100644 --- a/openpilot/selfdrive/modeld/tests/test_action_curvature_threshold.py +++ b/openpilot/selfdrive/modeld/tests/test_action_curvature_threshold.py @@ -25,7 +25,7 @@ def action_function(): def test_action_curvature_low_speed_threshold(speed): previous = log.ModelDataV2.Action(desiredCurvature=0.01, desiredAcceleration=0.1) action = action_function()({"action": np.array([[0.25, 0.5]])}, previous, 0.2, 0.2, speed) - expected = smooth_value(0.25 / max(2.5, speed) ** 2, 0.01, LAT_SMOOTH_SECONDS) if speed > 0.3 else 0.01 + expected = smooth_value(0.25 / max(1.0, speed) ** 2, 0.01, LAT_SMOOTH_SECONDS) if speed > 0.3 else 0.01 assert action.desiredCurvature == pytest.approx(expected) assert action.desiredAcceleration == pytest.approx(smooth_value(0.5, 0.1, 0.3)) assert not action.shouldStop