mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-06-28 01:52:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

modeld: clip vego (#33699)

Browse Source
This commit is contained in:
YassineYousfi
2024-10-01 21:33:46 -07:00
committed by GitHub
parent 9cbd34158f
commit 48bd5b9f6b
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/modeld.py
+2 -1
View File
@@ -231,7 +231,8 @@ def main(demo=False):
desire = DH.desire
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
v_ego = max(sm["carState"].vEgo, 0.)
lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]