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fix plan

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pull/30273/head
Yassine 2 years ago
parent c2ecf7ab7c
commit 51fcff02d0
1 changed files with 6 additions and 6 deletions
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  1. 12
      selfdrive/modeld/fill_model_msg.py

12
selfdrive/modeld/fill_model_msg.py
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@ -42,12 +42,12 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str,
modelV2.navEnabled = nav_enabled modelV2.navEnabled = nav_enabled
# plan # 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], 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]) 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.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.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'][0,10], net_output_data['plan'][0,11], net_output_data['plan'][0,12]) 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'][0,13], net_output_data['plan'][0,14], net_output_data['plan'][0,15]) 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 # lane lines
modelV2.init('laneLines', 4) modelV2.init('laneLines', 4)

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