From 3022f68fa70574202d7bd5ed0100133719e2316c Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Tue, 10 Aug 2021 10:51:38 -0700 Subject: [PATCH] Update long_mpc api for use with sim (#21890) --- selfdrive/controls/lib/long_mpc.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py index 6f0db25fcf..4d6f3846d0 100644 --- a/selfdrive/controls/lib/long_mpc.py +++ b/selfdrive/controls/lib/long_mpc.py @@ -45,12 +45,14 @@ class LongitudinalMpc(): self.cur_state[0].v_ego = v_safe self.cur_state[0].a_ego = a_safe - def update(self, carstate, model, v_cruise): + def update(self, carstate, radarstate, v_cruise): v_cruise_clipped = np.clip(v_cruise, self.cur_state[0].v_ego - 10., self.cur_state[0].v_ego + 10.0) poss = v_cruise_clipped * np.array(T_IDXS[:LON_MPC_N+1]) speeds = v_cruise_clipped * np.ones(LON_MPC_N+1) accels = np.zeros(LON_MPC_N+1) + self.update_with_xva(poss, speeds, accels) + def update_with_xva(self, poss, speeds, accels): # Calculate mpc self.libmpc.run_mpc(self.cur_state, self.mpc_solution, list(poss), list(speeds), list(accels),