modeld: handle division by zero (#30411)

* modeld: avoid division by zero * undefined at 0
2 years ago · 84d2fa68f7
parent 1d7caa80aa
commit 84d2fa68f7
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@ -92,7 +92,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
    # interpolate to find `t` for the current xidx
    current_x_val = plan_x[tidx]
    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val)
+    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]

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