From 7e20fe7ca2a75110d8918b2d38c37dbc9e56b6de Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Wed, 8 Dec 2021 15:41:48 -0800 Subject: [PATCH] Long mpc: fix xva policy for sim --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index e75e84da13..7401526364 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -352,7 +352,7 @@ class LongitudinalMpc(): x_obstacle = 1e5*np.ones((N+1)) self.params = np.concatenate([self.accel_limit_arr, x_obstacle[:,None], - self.prev_a], axis=1) + self.prev_a[:,None]], axis=1) self.run()