no prev curv

2 months ago · b52115d6d2
parent aa6356d44c
commit b52115d6d2
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@ -174,7 +174,7 @@ class ModelState:
    # 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,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]

    combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
    if SEND_RAW_PRED: