superrob/IQ.Pilot
1
0
Fork 0
forked from IQ.Lvbs/IQ.Pilot
Code Pull Requests Activity

IQ.Pilot Release Commit @ 7550fa9

Browse Source
This commit is contained in:
IQ.Lvbs CI [bot]
2026-09-02 13:32:42 -05:00
parent 4efaff4cb2
commit 43ee82d228
24 changed files with 882 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
iqpilot/selfdrive/iqmodeld/modeld_selector.py
View File

@@ -159,23 +159,29 @@ class BigLatch:
return False, False
BIG_SOURCES = frozenset({"egpu_big", "mac_big"})
def _patch_and_send(pm: PubMaster, payload: dict, frame_drop_perc: float, selector_dropped: int,
target: int, source_lag: int, mismatch: bool | None = None) -> None:
msgs = payload["msgs"]
if mismatch is None:
mismatch = source_lag > 0
big = payload.get("source") in BIG_SOURCES
model_msg = log_from_bytes(msgs["modelV2"]).as_builder()
if mismatch:
model_msg.modelV2.frameId = target
model_msg.modelV2.frameAge = max(model_msg.modelV2.frameAge, source_lag)
model_msg.modelV2.frameDropPerc = frame_drop_perc
model_msg.modelV2.big = big
pm.send("modelV2", model_msg)
driving_msg = log_from_bytes(msgs["drivingModelData"]).as_builder()
if mismatch:
driving_msg.drivingModelData.frameId = target
driving_msg.drivingModelData.frameDropPerc = frame_drop_perc
driving_msg.drivingModelData.big = big
pm.send("drivingModelData", driving_msg)
pose_msg = log_from_bytes(msgs["cameraOdometry"]).as_builder()