mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-05 13:25:40 +08:00
Code Issues Packages Projects Releases Wiki Activity

[WIP] Adding support for NDv2

Browse Source
This commit is contained in:
DevTekVE
2024-12-30 14:05:24 +01:00
parent c9a23395ea
commit c959947b8f
1 changed files with 8 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/modeld.py
+8
View File
@@ -97,6 +97,14 @@ class ModelState:
self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
if "desired_curvature" in outputs:
if "prev_desired_curvs" in self.numpy_inputs.keys():
self.numpy_inputs['prev_desired_curvs'][:-1] = self.numpy_inputs['prev_desired_curvs'][1:]
self.numpy_inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][:, 0:1, None] # Reshape to (1,1,1)
if "prev_desired_curv" in self.numpy_inputs.keys():
# First shift everything
self.numpy_inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.numpy_inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
self.numpy_inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][:, :1].reshape(1, -1, 1)
return outputs