From 51fcff02d0d9850173ad45e03beba3a6524abd52 Mon Sep 17 00:00:00 2001 From: Yassine Date: Fri, 13 Oct 2023 15:51:51 -0700 Subject: [PATCH] fix plan --- selfdrive/modeld/fill_model_msg.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 7b0ef411d1..9f39fb6f32 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -42,12 +42,12 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, modelV2.navEnabled = nav_enabled # plan - fill_xyzt(modelV2.position, T_IDXS, net_output_data['plan'][0,0], net_output_data['plan'][0,1], net_output_data['plan'][0,2], - net_output_data['plan_stds'][0,0], net_output_data['plan_stds'][0,1], net_output_data['plan_stds'][0,2]) - fill_xyzt(modelV2.velocity, T_IDXS, net_output_data['plan'][0,3], net_output_data['plan'][0,4], net_output_data['plan'][0,5]) - fill_xyzt(modelV2.acceleration, T_IDXS, net_output_data['plan'][0,6], net_output_data['plan'][0,7], net_output_data['plan'][0,9]) - fill_xyzt(modelV2.orientation, T_IDXS, net_output_data['plan'][0,10], net_output_data['plan'][0,11], net_output_data['plan'][0,12]) - fill_xyzt(modelV2.orientationRate, T_IDXS, net_output_data['plan'][0,13], net_output_data['plan'][0,14], net_output_data['plan'][0,15]) + fill_xyzt(modelV2.position, T_IDXS, net_output_data['plan'][0,:,0], net_output_data['plan'][0,:,1], net_output_data['plan'][0,:,2], + net_output_data['plan_stds'][0,:,0], net_output_data['plan_stds'][0,:,1], net_output_data['plan_stds'][0,:,2]) + fill_xyzt(modelV2.velocity, T_IDXS, net_output_data['plan'][0,:,3], net_output_data['plan'][0,:,4], net_output_data['plan'][0,:,5]) + fill_xyzt(modelV2.acceleration, T_IDXS, net_output_data['plan'][0,:,6], net_output_data['plan'][0,:,7], net_output_data['plan'][0,:,8]) + fill_xyzt(modelV2.orientation, T_IDXS, net_output_data['plan'][0,:,9], net_output_data['plan'][0,:,10], net_output_data['plan'][0,:,11]) + fill_xyzt(modelV2.orientationRate, T_IDXS, net_output_data['plan'][0,:,12], net_output_data['plan'][0,:,13], net_output_data['plan'][0,:,14]) # lane lines modelV2.init('laneLines', 4)