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sunnypilot modeld: refactor gen12 parsing (#1150)

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* gen12

* lint

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
James Vecellio-Grant
2025-08-12 16:07:07 -07:00
committed by GitHub
parent ec3f044c83
commit 28b17858be
1 changed files with 1 additions and 3 deletions
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sunnypilot/modeld_v2/parse_model_outputs_split.py
+1 -3
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@@ -106,9 +106,7 @@ class Parser:
out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
if 'plan' in outs:
if self.generation >= 12 and \
outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
self._parse_plan_mhp(outs)
elif self.generation >= 12:
outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
self.parse_mdn('plan', outs, in_N=0, out_N=0,
out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
else: