update prev action

1 week ago · defafef30b
parent 5f44202578
commit defafef30b
1 changed files with 2 additions and 0 deletions
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@ -338,9 +338,11 @@ def main(demo=False):
      posenet_send = messaging.new_message('cameraOdometry')

      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL)
+      prev_action = action
      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                     publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+                     

      desire_state = modelv2_send.modelV2.meta.desireState
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]