From c1c402a821b1d121bb9843f16be8d0c2edd2888f Mon Sep 17 00:00:00 2001
From: Greg Hogan <gregjhogan@gmail.com>
Date: Sun, 17 Oct 2021 19:42:20 -0700
Subject: [PATCH] model position std should be exp(std) (#22593)

---
 selfdrive/modeld/models/driving.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 603dd99210..707f355cb4 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -253,16 +253,16 @@ void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const float *data, i
     if (plan_t_arr == nullptr) {
       t_arr[i] = T_IDXS[i];
       x_arr[i] = data[i*columns + 0];
-      x_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 0];
+      x_std_arr[i] = exp(data[columns*(TRAJECTORY_SIZE + i) + 0]);
     } else {
       t_arr[i] = plan_t_arr[i];
       x_arr[i] = X_IDXS[i];
       x_std_arr[i] = NAN;
     }
     y_arr[i] = data[i*columns + 1];
-    y_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 1];
+    y_std_arr[i] = exp(data[columns*(TRAJECTORY_SIZE + i) + 1]);
     z_arr[i] = data[i*columns + 2];
-    z_std_arr[i] = data[columns*(TRAJECTORY_SIZE + i) + 2];
+    z_std_arr[i] = exp(data[columns*(TRAJECTORY_SIZE + i) + 2]);
   }
   xyzt.setX(x_arr);
   xyzt.setY(y_arr);