Full length MPC

selfdrive/controls/lib/drive_helpers.py

@@ -17,9 +17,9 @@ V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
 IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
 
 MIN_SPEED = 1.0
-LAT_MPC_N = 16
+LAT_MPC_N = 32
 LON_MPC_N = 32
-CONTROL_N = 17
+CONTROL_N = 33
 CAR_ROTATION_RADIUS = 0.0
 
 # EU guidelines

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -6,6 +6,7 @@ from casadi import SX, vertcat, sin, cos
 
 from common.realtime import sec_since_boot
 from selfdrive.modeld.constants import T_IDXS
+from selfdrive.controls.lib.drive_helpers import LAT_MPC_N as N
 
 if __name__ == '__main__':  # generating code
   from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver