use all samples

2 months ago · 6c0d7943ac
parent 06f0a8e196
commit 6c0d7943ac
1 changed files with 1 additions and 1 deletions
--- 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']