From caa01d2f956ce4cae95fa46227f4beb157c74a66 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 9 Nov 2021 19:29:55 -0800 Subject: [PATCH] ACADOS: partial condensing (#22830) * partial condense * new refs * new ref * newerest refs old-commit-hash: 35d6ed10148adbb07c2a4b0c787342b6e101aa05 --- selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | 1 + selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 6b0290863..42cef8b89 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -98,6 +98,7 @@ def gen_lat_mpc_solver(): ocp.solver_options.integrator_type = 'ERK' ocp.solver_options.nlp_solver_type = 'SQP_RTI' ocp.solver_options.qp_solver_iter_max = 1 + ocp.solver_options.qp_solver_cond_N = N//4 # set prediction horizon ocp.solver_options.tf = Tf diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 5c8a98bda..b3960fcb5 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -166,6 +166,7 @@ def gen_long_mpc_solver(): ocp.solver_options.hessian_approx = 'GAUSS_NEWTON' ocp.solver_options.integrator_type = 'ERK' ocp.solver_options.nlp_solver_type = 'SQP_RTI' + ocp.solver_options.qp_solver_cond_N = N//4 # More iterations take too much time and less lead to inaccurate convergence in # some situations. Ideally we would run just 1 iteration to ensure fixed runtime. diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 03098a4e9..542a6656e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -72bf5e2fc5628714a9bbb7cc641954735264f022 \ No newline at end of file +d81233677d9987d7645962ff4a076bafd94f83e3 \ No newline at end of file