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Update modeld.py

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infiniteCable2
2025-04-23 17:03:54 +02:00
parent 6e9b4d76fc
commit 970c1e7ec5
1 changed files with 4 additions and 4 deletions
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selfdrive/modeld/modeld.py
+4 -4
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@@ -48,10 +48,10 @@ LONG_SMOOTH_SECONDS = 0.3
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
plan = model_output['plan'][0]
desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
plan[:,Plan.ACCELERATION][:,0],
ModelConstants.T_IDXS,
action_t=long_action_t)
desired_accel, should_stop, desired_speed = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
plan[:,Plan.ACCELERATION][:,0],
ModelConstants.T_IDXS,
action_t=long_action_t)
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
desired_curvature = model_output['desired_curvature'][0, 0]