From 896a490db4232c83a1326fe41a2df9b14f26da86 Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Thu, 20 Feb 2025 11:03:02 -0800
Subject: [PATCH] is this wrong

---
 selfdrive/modeld/modeld.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index c4e1939d58..a394de90df 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -132,13 +132,13 @@ class ModelState:
 
     self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
     self.full_features_buffer[0,-1] = outputs['hidden_state'][0, :]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, -ModelConstants.TEMPORAL_SKIP-(ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT-1)*ModelConstants.TEMPORAL_SKIP-1:-ModelConstants.TEMPORAL_SKIP:ModelConstants.TEMPORAL_SKIP]
+    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, -ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP::ModelConstants.TEMPORAL_SKIP]
 
 
     # TODO model only uses last value now
     self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
     self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, -ModelConstants.TEMPORAL_SKIP-ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP-1:    -ModelConstants.TEMPORAL_SKIP:ModelConstants.TEMPORAL_SKIP]
+    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, -ModelConstants.TEMPORAL_SKIP-ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP::ModelConstants.TEMPORAL_SKIP]
     return outputs