From 9afc95474d34925d23f94484a680b117ab0a5b3c Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Mon, 6 Dec 2021 16:16:51 -0800 Subject: [PATCH] add a change cost --- 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 f895f6b163..351a15186d 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -242,7 +242,7 @@ class LongitudinalMpc(): self.solver.cost_set(i, 'Zl', Zl) def set_weights_for_xva_policy(self): - W = np.asfortranarray(np.diag([0., 10., 1., 10., 1.])) + W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.])) for i in range(N): self.solver.cost_set(i, 'W', W) # Setting the slice without the copy make the array not contiguous,