Multipath supercombo (#1036)

* exclude stuff outside of validity window

* 94dd2da7-23ae-4628-9d12-37f58b379110/10

* fbe443fd-1d65-4b4d-8e3a-3817b58bacd0/50

* sanity clip

models/supercombo.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7e36d90b6ff6aaf655e57aed5c907eea55ad30806f0720c7e69559fa5e901592
-size 26395446
+oid sha256:b5bca4529ca5c2d6c12f2faa48265f706c057ec1d1243587fc8e4f31233bdf94
+size 27183806

models/supercombo.keras

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:41f081e410d9f0e9f9c6f37446bb2de0676280694cd54391d62261642cd4bb25
-size 27246624
+oid sha256:23bff62f6a2055571750bc7b93f477a8d6c9a2971084c205e897ab5a35e584f1
+size 28034952

selfdrive/modeld/models/driving.cc

@@ -7,9 +7,9 @@
 
 
 #define PATH_IDX 0
-#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2
-#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 1
-#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 1
+#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2 + 1
+#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 2
+#define LEAD_IDX RL_IDX + MODEL_PATH_DISTANCE*2 + 2
 #define LONG_X_IDX LEAD_IDX + MDN_GROUP_SIZE*LEAD_MDN_N + SELECTION 
 #define LONG_V_IDX LONG_X_IDX + TIME_DISTANCE*2
 #define LONG_A_IDX LONG_V_IDX + TIME_DISTANCE*2
@@ -133,13 +133,20 @@ void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bo
   float poly_arr[POLYFIT_DEGREE];
   float std;
   float prob;
+  float valid_len;
 
+  valid_len =  data[MODEL_PATH_DISTANCE*2];
   for (int i=0; i<MODEL_PATH_DISTANCE; i++) {
     points_arr[i] = data[i] + offset;
+    // Always do at least 5 points
+    if (i < 5 || i < valid_len) {
       stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]);
+    } else {
+      stds_arr[i] = 1.0e3; 
+    }
   }
   if (has_prob) {
-    prob =  sigmoid(data[MODEL_PATH_DISTANCE*2]);
+    prob =  sigmoid(data[MODEL_PATH_DISTANCE*2 + 1]);
   } else {
     prob = 1.0;
   }