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New model outputs (#20933)

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* New model: 51a237cd-9c43-4281-9072-802325e6744d/950

* Added new meta outputs and proper interp for plan_t_arr

* Added meta-based trigger for FCW

* No nans in planner, separate alert for model FCW

* Cleaned up plan_t interp logic

* Added empty cameraError alert to fix unit tests

* Use the normal FCW event

* Updated filter logic

* Updated model replay ref

* Moved disengage predictions into their own cereal struct

* Updated model replay ref for new cereal structs

* Apparently this breaks stuff?

* Bumped cereal commit and model replay ref
This commit is contained in:
Mitchell Goff
2021-05-19 22:30:23 -07:00
committed by GitHub
parent 2defc730db
commit 29cc3500a5
7 changed files with 90 additions and 20 deletions
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selfdrive/common/modeldata.h
+4 -2
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@@ -3,14 +3,16 @@ const int TRAJECTORY_SIZE = 33;
const float MIN_DRAW_DISTANCE = 10.0;
const float MAX_DRAW_DISTANCE = 100.0;
const double T_IDXS[TRAJECTORY_SIZE] = {0. , 0.00976562, 0.0390625 , 0.08789062, 0.15625 ,
const double T_IDXS[TRAJECTORY_SIZE] = {
0. , 0.00976562, 0.0390625 , 0.08789062, 0.15625 ,
0.24414062, 0.3515625 , 0.47851562, 0.625 , 0.79101562,
0.9765625 , 1.18164062, 1.40625 , 1.65039062, 1.9140625 ,
2.19726562, 2.5 , 2.82226562, 3.1640625 , 3.52539062,
3.90625 , 4.30664062, 4.7265625 , 5.16601562, 5.625 ,
6.10351562, 6.6015625 , 7.11914062, 7.65625 , 8.21289062,
8.7890625 , 9.38476562, 10.};
const double X_IDXS[TRAJECTORY_SIZE] = { 0. , 0.1875, 0.75 , 1.6875, 3. , 4.6875,
const double X_IDXS[TRAJECTORY_SIZE] = {
0. , 0.1875, 0.75 , 1.6875, 3. , 4.6875,
6.75 , 9.1875, 12. , 15.1875, 18.75 , 22.6875,
27. , 31.6875, 36.75 , 42.1875, 48. , 54.1875,
60.75 , 67.6875, 75. , 82.6875, 90.75 , 99.1875,