IQ.Pilot Release Commit @ f2a861c

iqpilot/selfdrive/iqmodeld/models/split_model_constants.py

@@ -1,4 +1,3 @@
-# openpilot model I/O constants (comma.ai, MIT — see LICENSE)
 import numpy as np
 
 
@@ -7,7 +6,6 @@ def index_function(idx, max_val=192, max_idx=32):
 
 
 class SplitModelConstants:
-  # time and distance indices
   IDX_N = 33
   T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
   X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
@@ -15,7 +13,6 @@ class SplitModelConstants:
   LEAD_T_OFFSETS = [0., 2., 4.]
   META_T_IDXS = [2., 4., 6., 8., 10.]
 
-  # split-model temporal / history run parameters
   MODEL_FREQ = 20
   HISTORY_FREQ = 5
   HISTORY_LEN_SECONDS = 5
@@ -31,7 +28,6 @@ class SplitModelConstants:
   LATERAL_CONTROL_PARAMS_LEN = 2
   PREV_DESIRED_CURV_LEN = 1
 
-  # model outputs constants
   FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
   FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
   FCW_5MS2_PROBS_WIDTH = 5
@@ -71,7 +67,6 @@ class SplitModelConstants:
   POLY_PATH_DEGREE = 4
 
 
-# model outputs slices
 class Plan:
   POSITION = slice(0, 3)
   VELOCITY = slice(3, 6)
@@ -82,14 +77,12 @@ class Plan:
 
 class Meta:
   ENGAGED = slice(0, 1)
-  # next 2, 4, 6, 8, 10 seconds
   GAS_DISENGAGE = slice(1, 31, 6)
   BRAKE_DISENGAGE = slice(2, 31, 6)
   STEER_OVERRIDE = slice(3, 31, 6)
   HARD_BRAKE_3 = slice(4, 31, 6)
   HARD_BRAKE_4 = slice(5, 31, 6)
   HARD_BRAKE_5 = slice(6, 31, 6)
-  # next 0, 2, 4, 6, 8, 10 seconds
   GAS_PRESS = slice(31, 55, 4)
   BRAKE_PRESS = slice(32, 55, 4)
   LEFT_BLINKER = slice(33, 55, 4)