From d18158781272a31077788c55c5e7cebc27360d1b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 31 Mar 2025 21:04:02 -0700 Subject: [PATCH] Use in modeld --- selfdrive/modeld/modeld.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1e557942fe..8c3c8ba4d6 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -195,7 +195,7 @@ def main(demo=False): # messaging pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"]) + sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"]) publish_state = PublishState() params = Params() @@ -220,9 +220,6 @@ def main(demo=False): CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) cloudlog.info("modeld got CarParams: %s", CP.brand) - # TODO this needs more thought, use .2s extra for now to estimate other delays - steer_delay = CP.steerActuatorDelay + .2 - DH = DesireHelper() while True: @@ -263,6 +260,7 @@ def main(demo=False): is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId v_ego = max(sm["carState"].vEgo, 0.) + steer_delay = sm["liveDelay"].lateralDelay lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)