From 6c0d7943ac5fbb7ae60af1a1201e2423e4c3c105 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 4 Mar 2025 13:06:49 -0800 Subject: [PATCH] use all samples --- selfdrive/modeld/modeld.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index ae1e75e3e9..1e557942fe 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -114,7 +114,7 @@ class ModelState: self.full_desire[0,:-1] = self.full_desire[0,1:] self.full_desire[0,-1] = new_desire - self.numpy_inputs['desire'][:] = self.full_desire[0, self.temporal_idxs] + self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']