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Models: Enable support for liveDelay in modeld_v2 (#879)

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Enable support for liveDelay in modeld_v2
This commit is contained in:
Discountchubbs
2025-05-08 22:19:35 -07:00
committed by GitHub
parent 72f09ec9f5
commit 4a094ef56f
1 changed files with 4 additions and 3 deletions
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sunnypilot/modeld_v2/modeld.py
+4 -3
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@@ -26,6 +26,7 @@ from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
PROCESS_NAME = "selfdrive.modeld.modeld"
LAT_SMOOTH_SECONDS = 0.0
class FrameMeta:
@@ -163,7 +164,7 @@ def main(demo=False):
# messaging
pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
publish_state = PublishState()
params = Params()
@@ -188,8 +189,8 @@ def main(demo=False):
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
cloudlog.info("modeld got CarParams: %s", CP.brand)
# TODO this needs more thought, use .2s extra for now to estimate other delays
steer_delay = CP.steerActuatorDelay + .2
# Enable lagd support for modeld_v2
steer_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
DH = DesireHelper()