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nan-nan-nan

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This commit is contained in:
discountchubbs
2026-10-02 09:44:12 -07:00
parent 04d7709f73
commit 10d70028db
2 changed files with 4 additions and 7 deletions
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openpilot/sunnypilot/modeld_v2/compile_modeld.py
+1 -4
View File
@@ -187,10 +187,7 @@ def generate_queues_and_npy(input_shapes: dict, frame_skip: int, device: str = D
queues['feat_q'] = Tensor(np.zeros((feat_q_len, features_buffer[0], feat_dim),
dtype=np.float32), device=device).contiguous().realize()
for key in ('tfm', 'big_tfm'):
if key not in npy_arrays:
npy_arrays[key] = np.eye(3, dtype=np.float32)
queues[key] = Tensor(npy_arrays[key], device='NPY').realize()
queues.update({key: Tensor(value, device='NPY').realize() for key, value in npy_arrays.items() if key in ('tfm', 'big_tfm')})
return queues, npy_arrays
openpilot/sunnypilot/models/helpers.py
+3 -3
View File
@@ -209,13 +209,13 @@ def plan_x_idxs_helper(constants, plan, model_output) -> list[float]:
while tidx < constants.IDX_N - 1 and plan_x[tidx + 1] < constants.X_IDXS[xidx]:
tidx += 1
if tidx == constants.IDX_N - 1:
# if the plan doesn't extend far enough, set plan_t to the max value (10s), then break
LINE_T_IDXS[xidx] = constants.T_IDXS[constants.IDX_N - 1]
for rem_idx in range(xidx, constants.IDX_N):
LINE_T_IDXS[rem_idx] = constants.T_IDXS[constants.IDX_N - 1]
break
# interpolate to find `t` for the current xidx
current_x_val = plan_x[tidx]
next_x_val = plan_x[tidx + 1]
p = (constants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
next_x_val - current_x_val) > 1e-9 else float('nan')
next_x_val - current_x_val) > 1e-9 else 0.0
LINE_T_IDXS[xidx] = p * constants.T_IDXS[tidx + 1] + (1 - p) * constants.T_IDXS[tidx]
return LINE_T_IDXS