From 5d7fd5014e3eb0831a270b57f5b8f7783787fc47 Mon Sep 17 00:00:00 2001
From: DocGarbanzo <47540921+DocGarbanzo@users.noreply.github.com>
Date: Fri, 16 Dec 2022 21:43:46 +0000
Subject: [PATCH] Rebased on main and bumped version (#1069)

Fix imu input in the complete template. The imu keras part expects an array for the imu data.
---
 donkeycar/templates/complete.py | 14 ++++++++++----
 setup.py                        |  2 +-
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/donkeycar/templates/complete.py b/donkeycar/templates/complete.py
index 57a7426cd..8001ab995 100644
--- a/donkeycar/templates/complete.py
+++ b/donkeycar/templates/complete.py
@@ -371,10 +371,16 @@ def reload_weights(filename):
 
         elif model_type == "imu":
             assert cfg.HAVE_IMU, 'Missing imu parameter in config'
-            # Run the pilot if the mode is not user.
-            inputs = ['cam/image_array',
-                    'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
-                    'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']
+
+            class Vectorizer:
+                def run(self, *components):
+                    return components
+
+            V.add(Vectorizer, inputs=['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
+                                      'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'],
+                  outputs=['imu_array'])
+
+            inputs = ['cam/image_array', 'imu_array']
         else:
             inputs = ['cam/image_array']
 
diff --git a/setup.py b/setup.py
index 5270bba37..06e809865 100644
--- a/setup.py
+++ b/setup.py
@@ -24,7 +24,7 @@ def package_files(directory, strip_leading):
     long_description = fh.read()
 
 setup(name='donkeycar',
-      version="4.4.2-main",
+      version="4.4.3-main",
       long_description=long_description,
       description='Self driving library for python.',
       url='https://github.com/autorope/donkeycar',