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Use cached lateral delay in stock modeld

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infiniteCable2
2026-10-07 19:39:20 +02:00
parent 6169c0ab27
commit 8b4d7ced9d
1 changed files with 1 additions and 1 deletions
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openpilot/selfdrive/modeld/modeld.py
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@@ -363,7 +363,7 @@ def main(demo=False):
frame_id = sm["narrowRoadCameraState"].frameId
v_ego = max(sm["carState"].vEgo, 0.)
model.lat_delay = lateral_delay_cache.get(sm["lateralDelay"].lateralDelay)
lat_delay = sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
lat_delay = model.lat_delay + LAT_SMOOTH_SECONDS
if sm.updated["extrinsicsCalibration"] and sm.seen['narrowRoadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["extrinsicsCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['narrowRoadCameraState'].sensor))]