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simplify disengage probs

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pull/30273/head
Yassine 2 years ago
parent 0e6fd7dea0
commit 0e0f55cf3b
1 changed files with 1 additions and 3 deletions
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  1. 4
      selfdrive/modeld/fill_model_msg.py

4
selfdrive/modeld/fill_model_msg.py
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@ -142,9 +142,7 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE] steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs)) any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
# independent disengage prob for each 2s slice # independent disengage prob for each 2s slice
ind_disengage_probs = np.zeros(DISENGAGE_WIDTH, dtype=np.float32) ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
ind_disengage_probs[0] = any_disengage_probs[0]
ind_disengage_probs[1:] = np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])
# rolling buf for 2, 4, 6, 8, 10s # rolling buf for 2, 4, 6, 8, 10s
publish_state.disengage_buffer[:-DISENGAGE_WIDTH] = publish_state.disengage_buffer[DISENGAGE_WIDTH:] publish_state.disengage_buffer[:-DISENGAGE_WIDTH] = publish_state.disengage_buffer[DISENGAGE_WIDTH:]
publish_state.disengage_buffer[DISENGAGE_WIDTH*(DISENGAGE_WIDTH-1):] = ind_disengage_probs publish_state.disengage_buffer[DISENGAGE_WIDTH*(DISENGAGE_WIDTH-1):] = ind_disengage_probs

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