Long mpc: fix xva policy for sim

4 years ago · 7e20fe7ca2
parent 1638975627
commit 7e20fe7ca2
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -352,7 +352,7 @@ class LongitudinalMpc():
    x_obstacle = 1e5*np.ones((N+1))
    self.params = np.concatenate([self.accel_limit_arr,
                             x_obstacle[:,None],
-                             self.prev_a], axis=1)
+                             self.prev_a[:,None]], axis=1)
    self.run()