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desire: give the pulse at t=0 (#26180)

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input desire at t0
old-commit-hash: 6b36f73870bebf467971b5e6020e35ddf1a456c9
This commit is contained in:
YassineYousfi
2022-10-20 15:13:58 -07:00
committed by GitHub
parent 3b62f66008
commit 4323014a2b
1 changed files with 2 additions and 2 deletions
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selfdrive/modeld/models/driving.cc
+2 -2
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@@ -62,9 +62,9 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
// Model decides when action is completed
// so desire input is just a pulse triggered on rising edge
if (desire_in[i] - s->prev_desire[i] > .99) {
s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = desire_in[i];
s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = desire_in[i];
} else {
s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = 0.0;
s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = 0.0;
}
s->prev_desire[i] = desire_in[i];
}