From 2002a64d3b53a289d142e40163a25c8cd5e21023 Mon Sep 17 00:00:00 2001 From: Daniel Koepping Date: Fri, 7 Aug 2026 01:30:48 -0700 Subject: [PATCH] modelV2: add big model bool (#38555) modelV2: add big --- openpilot/cereal/log.capnp | 1 + openpilot/selfdrive/modeld/modeld.py | 2 ++ 2 files changed, 3 insertions(+) diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp index fd692f3670..fdb025d838 100644 --- a/openpilot/cereal/log.capnp +++ b/openpilot/cereal/log.capnp @@ -1043,6 +1043,7 @@ struct ModelDataV2 { timestampEof @3 :UInt64; modelExecutionTime @15 :Float32; rawPredictions @16 :Data; + big @27 :Bool; # predicted future position, orientation, etc.. position @4 :XYZTData; diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py index 52bf8dfc3f..97e954ec33 100755 --- a/openpilot/selfdrive/modeld/modeld.py +++ b/openpilot/selfdrive/modeld/modeld.py @@ -128,6 +128,7 @@ class ModelState: self.output_slices = metadata['output_slices'] self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + self.usbgpu = usbgpu self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ self.input_queues, self.npy = make_input_queues(self.input_shapes, self.frame_skip, device=self.QUEUE_DEV) @@ -380,6 +381,7 @@ def main(demo=False): fill_model_msg(modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen) + modelv2_send.modelV2.big = model.usbgpu desire_state = modelv2_send.modelV2.meta.desireState l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]