From ee10697d861c422545ce29ce7869c328e42c7a7c Mon Sep 17 00:00:00 2001
From: Harald Schafer <harald.the.engineer@gmail.com>
Date: Sun, 10 May 2020 22:00:41 -0700
Subject: [PATCH] safer

---
 selfdrive/modeld/models/driving.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 4ef8c8dff..a9172dcd6 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -174,14 +174,14 @@ void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bo
   valid_len =  fmin(192, fmax(5, data[MODEL_PATH_DISTANCE*2]));
   for (int i=0; i<MODEL_PATH_DISTANCE; i++) {
     points_arr[i] = data[i] + offset;
-    stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]);
+    stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]) + 1e-6;
   }
   if (has_prob) {
     prob =  sigmoid(data[MODEL_PATH_DISTANCE*2 + 1]);
   } else {
     prob = 1.0;
   }
-  std = softplus(data[MODEL_PATH_DISTANCE]);
+  std = softplus(data[MODEL_PATH_DISTANCE]) + 1e-6;
   poly_fit(points_arr, stds_arr, poly_arr, valid_len);
 
   if (std::getenv("DEBUG")){