From 117ad7d5adbfaa672449dec05d7361033575deeb Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Wed, 25 Jan 2023 13:53:31 -0800
Subject: [PATCH] 10s lat

---
 selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | 2 +-
 1 file changed, 1 insertion(+), 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 536f436fce..c9397c79bc 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -17,7 +17,7 @@ EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
 JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
 X_DIM = 4
 P_DIM = 2
-N = 16
+N = 32
 COST_E_DIM = 3
 COST_DIM = COST_E_DIM + 2
 SPEED_OFFSET = 10.0