Improved lead model: 6be443f2-ed70-4580-9c31-61b94d068e24/950

* 6be443f2-ed70-4580-9c31-61b94d068e24/950 * meta changed too * new ref * new ref from CI * unused * Revert "new ref from CI" This reverts commit 28b6bdc. * new ref from CI again updated releases
sshane · Sep 30, 2021 · a103707 · a103707
1 parent ff171c6
commit a103707
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Showing 6 changed files with 10 additions and 10 deletions.
diff --git a/SA_RELEASES.md b/SA_RELEASES.md
@@ -1,6 +1,6 @@
 Stock Additions Update 1 - 2021-09-30 (0.8.10)
 ===
- * Update SA to 0.8.10 (not yet including new model)
+ * Update SA to 0.8.10 with cherry-picked improved lead model
 
 Stock Additions Update 2 - 2021-08-15 (0.8.9)
 ===

diff --git a/models/supercombo.dlc b/models/supercombo.dlc
diff --git a/models/supercombo.onnx b/models/supercombo.onnx
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
@@ -13,17 +13,17 @@
 #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;
 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;
@@ -207,6 +207,7 @@ 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
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-a6a2358fe21ee43f10ed26100eb2f0811b877670
+0bda0bfb1196caaa5ba8ec52e689a250077c5bab
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		@@ -1 +1 @@
		a6a2358fe21ee43f10ed26100eb2f0811b877670
		0bda0bfb1196caaa5ba8ec52e689a250077c5bab