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modeld: clip vego (#33699)

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pull/33701/head
YassineYousfi 7 months ago committed by GitHub
parent 9cbd34158f
commit 48bd5b9f6b
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1 changed files with 2 additions and 1 deletions
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  1. 3
      selfdrive/modeld/modeld.py

3
selfdrive/modeld/modeld.py
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@ -231,7 +231,8 @@ def main(demo=False):
desire = DH.desire desire = DH.desire
is_rhd = sm["driverMonitoringState"].isRHD is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId frame_id = sm["roadCameraState"].frameId
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) v_ego = max(sm["carState"].vEgo, 0.)
lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]

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