From 28b17858be6209d94fefd93dfdc469ba4c47fa13 Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Tue, 12 Aug 2025 16:07:07 -0700 Subject: [PATCH] sunnypilot modeld: refactor gen12 parsing (#1150) * gen12 * lint --------- Co-authored-by: Jason Wen --- sunnypilot/modeld_v2/parse_model_outputs_split.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py index 79fa8ec2f..ba8592ed1 100644 --- a/sunnypilot/modeld_v2/parse_model_outputs_split.py +++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py @@ -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: