Affix to generation, while allowing older models to use this IF param is set.

common/params_keys.h

@@ -150,6 +150,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
+    {"DynamicModeldOutputs", PERSISTENT | BACKUP},
     {"ModelManager_ActiveBundle", PERSISTENT},
     {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc

@@ -89,6 +89,14 @@ ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
 
   list->addItem(horizontal_line());
 
+  // Dynamic Modeld Outputs toggle
+  dynamicModeldOutputs = new ParamControlSP("DynamicModeldOutputs", tr("Allow Dynamic Model Outputs"),
+                                            tr("Enable this to allow dynamic model output parsing on all models produced "
+                                               "after September, 2024. The affects of this toggle have been noted to make "
+                                               "Gas and Brake controls noticeably smoother."),
+                                               "../assets/offroad/icon_shell.png");
+  list->addItem(dynamicModeldOutputs);
+
   // LiveDelay toggle
   lagd_toggle_control = new ParamControlSP("LagdToggle", tr("Live Learning Steer Delay"), "", "../assets/offroad/icon_shell.png");
   lagd_toggle_control->showDescription();

selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h

@@ -64,6 +64,7 @@ private:
   bool is_onroad = false;
 
   ButtonControlSP *currentModelLblBtn;
+  ParamControlSP *dynamicModeldOutputs;
   ParamControlSP *lagd_toggle_control;
   OptionControlSP *delay_control;
   QProgressBar *supercomboProgressBar;

sunnypilot/modeld_v2/parse_model_outputs_split.py

@@ -1,5 +1,7 @@
 import numpy as np
+from openpilot.common.params import Params
 from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.models.helpers import get_active_bundle
 
 
 def safe_exp(x, out=None):
@@ -24,6 +26,9 @@ def softmax(x, axis=-1):
 class Parser:
   def __init__(self, ignore_missing=False):
     self.ignore_missing = ignore_missing
+    self._params = Params()
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation if model_bundle is not None else None
 
   def check_missing(self, outs, name):
     if name not in outs and not self.ignore_missing:
@@ -88,21 +93,31 @@ class Parser:
     outs[name] = pred_mu_final.reshape(final_shape)
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
-  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
-    if 'lead' in outs:
-      if outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION *SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
-        self.parse_mdn('lead', outs, in_N=0, out_N=0,
-                       out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
-      else:
+  def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if self._params.get_bool("DynamicModeldOutputs") or (self.generation >= 12):
+      if 'lead' in outs:
+        if outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION *SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
+          self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                         out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
+        else:
+          self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                         out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
+      if 'plan' in outs:
+        if outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+          self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+        else:
+          self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                         out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+    else:
+      if 'lead' in outs:
         self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
-                      out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
-    if 'plan' in outs:
-      if outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
+                       out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
+      if 'plan' in outs:
         self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
                        out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
-      else:
-        self.parse_mdn('plan', outs, in_N=0, out_N=0,
-                      out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+
+  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
     if 'lane_lines' in outs:
       self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
                      out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
@@ -117,12 +132,14 @@ class Parser:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_dynamic_outputs(outs)
     self.split_outputs(outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_dynamic_outputs(outs)
     self.split_outputs(outs)
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))

system/manager/manager.py

@@ -55,6 +55,7 @@ def manager_init() -> None:
     ("CustomAccShortPressIncrement", "1"),
     ("DeviceBootMode", "0"),
     ("DynamicExperimentalControl", "0"),
+    ("DynamicModeldOutputs", "0"),
     ("HyundaiLongitudinalTuning", "0"),
     ("InteractivityTimeout", "0"),
     ("LagdToggle", "1"),