From 8b4d7ced9db3c6fb1ccff0cbed0563f114857aa8 Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Wed, 7 Oct 2026 19:39:20 +0200 Subject: [PATCH] Use cached lateral delay in stock modeld --- openpilot/selfdrive/modeld/modeld.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py index 86e2f0a72..75c5e4bb1 100755 --- a/openpilot/selfdrive/modeld/modeld.py +++ b/openpilot/selfdrive/modeld/modeld.py @@ -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))]