From 0650fab34b93cb50eda2b7c83fc98217aaf56c16 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Thu, 26 Jan 2023 22:21:50 -0800 Subject: [PATCH] Full length MPC --- selfdrive/controls/lib/drive_helpers.py | 4 ++-- selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index a332d06765..da161a0125 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/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 diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index c9397c79bc..16423e032e 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/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