desire: give the pulse at t=0 (#26180)

input desire at t0
3 years ago · 6b36f73870
parent 4f84b29985
commit 6b36f73870
1 changed files with 2 additions and 2 deletions
--- 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];
    }