Remove accel cost in long MPC (#22527)

* ACCEL not useful * new ref
4 years ago · c4510024da
parent f1fcf17c4c
commit c4510024da
2 changed files with 2 additions and 2 deletions
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -25,7 +25,7 @@ CONSTR_DIM = 4

 X_EGO_COST = 3.
 X_EGO_E2E_COST = 10.
-A_EGO_COST = 1.
+A_EGO_COST = 0.
 J_EGO_COST = 10.
 DANGER_ZONE_COST = 100.
 CRASH_DISTANCE = .5
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-1704bf0294610dfe380fbdf601b03f1387ddec9d
+b77c895cd7a07b90e7f9ca58252f090a437efc43