diff --git a/models/supercombo.dlc b/models/supercombo.dlc index 29c282c03..82891f98b 100644 --- a/models/supercombo.dlc +++ b/models/supercombo.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1c53859f4d15a172811e0af815f192c272072005366c1cb9d05b819f19a6c48d -size 56720671 +oid sha256:9e2d3a3b513bf3d0ea4255fc41d57e84b141643fd3d47268c33862110387ea05 +size 56685051 diff --git a/models/supercombo.onnx b/models/supercombo.onnx index 6d2a81b5b..5ef1944f9 100644 --- a/models/supercombo.onnx +++ b/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:69c1f8f71fd815c9d30361b99b1dfd39df5460176c628c038d3f7d91e4801704 -size 56742706 +oid sha256:43d362484b134fce8d05ff0cb0971c53ceee64d96a4d97c1b6d19cc849f40588 +size 56707084 diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index c1ce11bea..92d4c8c8a 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -13,9 +13,9 @@ #include "selfdrive/common/timing.h" constexpr int DESIRE_PRED_SIZE = 32; -constexpr int OTHER_META_SIZE = 32; +constexpr int OTHER_META_SIZE = 48; constexpr int NUM_META_INTERVALS = 5; -constexpr int META_STRIDE = 6; +constexpr int META_STRIDE = 7; constexpr int PLAN_MHP_N = 5; constexpr int PLAN_MHP_COLUMNS = 15; @@ -23,7 +23,7 @@ constexpr int PLAN_MHP_VALS = 15*33; constexpr int PLAN_MHP_SELECTION = 1; constexpr int PLAN_MHP_GROUP_SIZE = (2*PLAN_MHP_VALS + PLAN_MHP_SELECTION); -constexpr int LEAD_MHP_N = 5; +constexpr int LEAD_MHP_N = 2; constexpr int LEAD_TRAJ_LEN = 6; constexpr int LEAD_PRED_DIM = 4; constexpr int LEAD_MHP_VALS = LEAD_PRED_DIM*LEAD_TRAJ_LEN; @@ -208,6 +208,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const float *meta_da fill_sigmoid(&meta_data[DESIRE_LEN+4], brake_3ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE); fill_sigmoid(&meta_data[DESIRE_LEN+5], brake_4ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE); fill_sigmoid(&meta_data[DESIRE_LEN+6], brake_5ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE); + //fill_sigmoid(&meta_data[DESIRE_LEN+7], GAS PRESSED, NUM_META_INTERVALS, META_STRIDE); std::memmove(prev_brake_5ms2_probs, &prev_brake_5ms2_probs[1], 4*sizeof(float)); std::memmove(prev_brake_3ms2_probs, &prev_brake_3ms2_probs[1], 2*sizeof(float)); diff --git a/selfdrive/test/process_replay/model_ref_commit b/selfdrive/test/process_replay/model_ref_commit deleted file mode 100644 index 03099ac10..000000000 --- a/selfdrive/test/process_replay/model_ref_commit +++ /dev/null @@ -1 +0,0 @@ -1d17a97b34258507720b39cdf059a3c769aaf998 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 19a379f4b..2b8dee038 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -a6a2358fe21ee43f10ed26100eb2f0811b877670 \ No newline at end of file +0bda0bfb1196caaa5ba8ec52e689a250077c5bab