mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-23 20:52:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

Driving Model Selector v5: Bug fixes

Browse Source
This commit is contained in:
Jason Wen
2024-07-20 13:06:34 +00:00
parent 0f2e56a203
commit 8b6e403996
2 changed files with 6 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/custom_model_metadata.py
+2 -2
View File
@@ -42,14 +42,14 @@ class CustomModelMetadata:
self.params: Params = params
self.generation: ModelGeneration = self.read_model_generation_param()
self.capabilities: int = self.get_model_capabilities()
self.capabilities: ModelCapabilities = self.get_model_capabilities()
self.valid: bool = self.params.get_bool("CustomDrivingModel") and not SIMULATION and \
self.capabilities != ModelCapabilities.Default
def read_model_generation_param(self) -> ModelGeneration:
return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default)
def get_model_capabilities(self) -> int:
def get_model_capabilities(self) -> ModelCapabilities:
"""Returns the model capabilities for a given generation."""
if self.generation == ModelGeneration.five:
return ModelCapabilities.DesiredCurvatureV2
selfdrive/modeld/fill_model_msg.py
+4 -2
View File
@@ -68,7 +68,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
driving_model_data.frameDropPerc = frame_drop_perc
action = driving_model_data.action
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
model_use_lateral_planner = custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution
if not model_use_lateral_planner:
action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
modelV2 = extended_msg.modelV2
modelV2.frameId = vipc_frame_id
@@ -100,7 +102,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
# lateral planning
if custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution:
if model_use_lateral_planner:
solution = modelV2.lateralPlannerSolutionDEPRECATED
solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]