From 0dc45eaf1cebc4247b59a4508b4ef192ea7b0e56 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 13 Sep 2021 21:23:22 -0700 Subject: [PATCH] Fix 0 init bug for acados lateral (#22225) * this is needed somehow * new ref --- selfdrive/controls/lib/lateral_planner.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 7760e4f86..d1245dd7d 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -62,7 +62,7 @@ class LateralPlanner(): self.y_pts = np.zeros(TRAJECTORY_SIZE) self.lat_mpc = LateralMpc() - self.reset_mpc() + self.reset_mpc(np.zeros(6)) def reset_mpc(self, x0=np.zeros(6)): self.x0 = x0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4979116ff..03ffb9436 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a256ade033538eeead4f34ad7b12be25237ae443 \ No newline at end of file +d8ba159971afb46d9b936517d2911bb9d5cd3377 \ No newline at end of file