From 76a3aa2556f8a8d6430c97bbd0b72753c79ec7e9 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Tue, 14 Feb 2023 14:11:05 -0800 Subject: [PATCH] Leave controls the same for now --- selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 5ac9c96e7b..ee028b2e33 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -180,6 +180,8 @@ class LateralMpc(): t = sec_since_boot() self.solution_status = self.solver.solve() + if self.solution_status != 0: + raise RuntimeError(self.solution_status) self.solve_time = sec_since_boot() - t for i in range(N+1):