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Update tinygrad_modeld.py
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firestar5683
2025-05-06 12:10:15 -05:00
parent df6a213638
commit 467ef9cd2d
5 changed files with 1 additions and 3 deletions
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frogpilot/tinygrad_modeld/models/dmonitoring_model_tinygrad.pkl
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frogpilot/tinygrad_modeld/models/driving_policy_metadata.pkl
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frogpilot/tinygrad_modeld/models/driving_policy_tinygrad.pkl
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frogpilot/tinygrad_modeld/models/driving_vision_tinygrad.pkl
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frogpilot/tinygrad_modeld/tinygrad_modeld.py
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@@ -57,9 +57,7 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
action_t=long_action_t)
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2],
plan[:, Plan.ORIENTATION_RATE][:, 2],
ModelConstants.T_IDXS, v_ego, lat_action_t)
desired_curvature = model_output['desired_curvature'][0, 0]
if v_ego > MIN_LAT_CONTROL_SPEED:
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
else: