Nicki Minaj Model commaai#28218

commaai#28218
FrogAi · May 18, 2023 · ef6504d · ef6504d
1 parent ced38b1
commit ef6504d
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Showing 3 changed files with 13 additions and 13 deletions.
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
@@ -1,10 +1,5 @@
 #pragma once
 
-// gate this here
-#define TEMPORAL
-#define DESIRE
-#define TRAFFIC_CONVENTION
-
 #include <array>
 #include <memory>
 
@@ -17,6 +12,12 @@
 #include "selfdrive/modeld/models/nav.h"
 #include "selfdrive/modeld/runners/run.h"
 
+// gate this here
+#define TEMPORAL
+#define DESIRE
+#define TRAFFIC_CONVENTION
+#define NAV
+
 constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
@@ -41,24 +41,24 @@ void ThneedModel::addExtra(float *extra_input_buf, int buf_size) {
 }
 
 void* ThneedModel::getInputBuf() {
-  if (use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
-  else if (!use_extra && thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
+  if (use_extra && thneed->input_clmem.size() > 5) return &(thneed->input_clmem[5]);
+  else if (!use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
   else return nullptr;
 }
 
 void* ThneedModel::getExtraBuf() {
-  if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
+  if (thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
   else return nullptr;
 }
 
 void ThneedModel::execute() {
   if (!recorded) {
     thneed->record = true;
     if (use_extra) {
-      float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
+      float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input};
       thneed->copy_inputs(inputs);
     } else {
-      float *inputs[4] = {recurrent, trafficConvention, desire, input};
+      float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input};
       thneed->copy_inputs(inputs);
     }
     thneed->clexec();
@@ -68,12 +68,11 @@ void ThneedModel::execute() {
     recorded = true;
   } else {
     if (use_extra) {
-      float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
+      float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input};
       thneed->execute(inputs, output);
     } else {
-      float *inputs[4] = {recurrent, trafficConvention, desire, input};
+      float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input};
       thneed->execute(inputs, output);
     }
   }
 }
-