Leave controls the same for now

3 years ago · 76a3aa2556
parent 2217c77bd0
commit 76a3aa2556
1 changed files with 2 additions and 0 deletions
--- 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):