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modeld: frame delay #37731

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Merged
fredyshox merged 9 commits into from
Apr 6, 2026
+3 −1
Merged

modeld: frame delay #37731

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bc1b066
Frame delay
fredyshox Mar 25, 2026
e16bee2
Multiply
fredyshox Mar 25, 2026
4a0fc4c
If replay
fredyshox Mar 25, 2026
4683054
For long too
fredyshox Mar 25, 2026
5e76e95
DT_MDL / 2
fredyshox Mar 31, 2026
4b8ffd6
Shorten comment
fredyshox Mar 31, 2026
7bc8db1
Just 50ms
fredyshox Apr 6, 2026
621ca34
Remove REPLAY const
fredyshox Apr 6, 2026
3fcb31b
Merge branch 'master' into modeld-frame-delay
fredyshox Apr 6, 2026
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4 changes: 3 additions & 1 deletion selfdrive/modeld/modeld.py
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Original file line number Diff line number Diff line change
Expand Up @@ -405,7 +405,9 @@ def main(demo=False):
drivingdata_send = messaging.new_message('drivingModelData')
posenet_send = messaging.new_message('cameraOdometry')

action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
frame_delay = DT_MDL # compensate for time passed since the frame was captured: current_time - timestamp_eof is 50ms on average
action_delay = DT_MDL / 2 # middle of the interval between model output (current state) and next frame (expected state)
action = get_action_from_model(model_output, prev_action, lat_delay + frame_delay + action_delay, long_delay + frame_delay + action_delay, v_ego)
prev_action = action
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
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