From e15974345bd41b6f9577afc03cc670280275a0b3 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Wed, 26 Mar 2025 08:26:21 +0100 Subject: [PATCH] modeld: Enforce float type for `lag_adjusted_curvature` (#714) Convert safe_desired_curvature to float before returning. This ensures the returned value is explicitly a float, avoiding an issue when serializing it on capnp as it does not recognize numpy.float Co-authored-by: Jason Wen --- sunnypilot/selfdrive/controls/lib/drive_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sunnypilot/selfdrive/controls/lib/drive_helpers.py b/sunnypilot/selfdrive/controls/lib/drive_helpers.py index c6d8d8545..b0fda7bd8 100644 --- a/sunnypilot/selfdrive/controls/lib/drive_helpers.py +++ b/sunnypilot/selfdrive/controls/lib/drive_helpers.py @@ -24,4 +24,4 @@ def get_lag_adjusted_curvature(steer_delay, v_ego, psis, curvatures): current_curvature_desired - max_curvature_rate * DT_MDL, current_curvature_desired + max_curvature_rate * DT_MDL) - return safe_desired_curvature + return float(safe_desired_curvature)