From 4323014a2b06b0977e663bb9eca61eb8ad5a9477 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 20 Oct 2022 15:13:58 -0700 Subject: [PATCH] desire: give the pulse at t=0 (#26180) input desire at t0 old-commit-hash: 6b36f73870bebf467971b5e6020e35ddf1a456c9 --- selfdrive/modeld/models/driving.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 3316e6d11..8b7058903 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -62,9 +62,9 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, // Model decides when action is completed // so desire input is just a pulse triggered on rising edge if (desire_in[i] - s->prev_desire[i] > .99) { - s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = desire_in[i]; + s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = desire_in[i]; } else { - s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = 0.0; + s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = 0.0; } s->prev_desire[i] = desire_in[i]; }