From 932ff06d9316e4351d6b6b9f1dd422d5b639badf Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Wed, 4 Nov 2026 14:32:06 -0800 Subject: [PATCH] modeld_v2: fix action curvature (#2091) --- openpilot/sunnypilot/modeld_v2/modeld.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/openpilot/sunnypilot/modeld_v2/modeld.py b/openpilot/sunnypilot/modeld_v2/modeld.py index ee8e538e76..f864d38bfe 100755 --- a/openpilot/sunnypilot/modeld_v2/modeld.py +++ b/openpilot/sunnypilot/modeld_v2/modeld.py @@ -242,7 +242,7 @@ class ModelState(ModelStateBase): desired_curvature = get_curvature_from_output(model_output, curvature_plan, v_ego, lat_action_t, self.mlsim) else: desired_accel = model_output['action'][0, 1] - desired_curvature = model_output['action'][0, 0] / (max(1.0, v_ego))**2 + desired_curvature = model_output['action'][0, 0] / (max(2.5, v_ego))**2 if blendful is not None: desired_curvature += blendful(desired_curvature)