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This commit is contained in:
James Vecellio-Grant
2025-12-01 00:04:19 +00:00
parent 5212203cc2
commit 4e8060c4f8
2 changed files with 5 additions and 5 deletions
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sunnypilot/modeld_v2/fill_model_msg.py
+2 -3
View File
@@ -11,13 +11,12 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
ConfidenceClass = log.ModelDataV2.ConfidenceClass
def get_curvature_from_output(output, vego, lat_action_t, mlsim):
def get_curvature_from_output(output, plan, vego, lat_action_t, mlsim):
if not mlsim:
if desired_curv := output.get('desired_curvature'): # If the model outputs the desired curvature, use that directly
return float(desired_curv[0, 0])
plan_output = output['plan'][0]
return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2],
return float(get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan[:, Plan.ORIENTATION_RATE][:, 2],
ModelConstants.T_IDXS, vego, lat_action_t))
sunnypilot/modeld_v2/modeld.py
+3 -2
View File
@@ -28,6 +28,7 @@ from openpilot.sunnypilot.models.helpers import get_active_bundle
from openpilot.sunnypilot.models.runners.helpers import get_model_runner
PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"
RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong
class FrameMeta:
@@ -157,12 +158,12 @@ class ModelState(ModelStateBase):
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
plan = model_output['plan'][0]
if 'planplus' in model_output:
plan = plan + model_output['planplus'][0]
plan = plan + RECOVERY_POWER*model_output['planplus'][0]
desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
action_t=long_action_t)
desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.mlsim)
desired_curvature = get_curvature_from_output(model_output, plan, v_ego, lat_action_t, self.mlsim)
if self.generation is not None and self.generation >= 10: # smooth curvature for post FOF models
if v_ego > self.MIN_LAT_CONTROL_SPEED:
desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)