From 7fd3d2a191b688e5ef7b4dcc8f5379e900af10f8 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 4 Mar 2025 20:25:22 -0800 Subject: [PATCH] Reapply "this should break - Revert "use all samples"" This reverts commit a3f0246f209f85f06b9090d9492bfba32ed8cfed. --- 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 1e557942fe..ae1e75e3e9 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.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) + self.numpy_inputs['desire'][:] = self.full_desire[0, self.temporal_idxs] self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']