Plannerd: higher upper bound cost for lateral planner (#28352)

20k not good upper bound for 10s old-commit-hash: cbd3e5b946
2 years ago · ef130058c6
parent 8bb530cec5
commit ef130058c6
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -112,7 +112,7 @@ class LateralPlanner:
        self.last_cloudlog_t = t
        cloudlog.warning("Lateral mpc - nan: True")

-    if self.lat_mpc.cost > 20000. or mpc_nans:
+    if self.lat_mpc.cost > 1e6 or mpc_nans:
      self.solution_invalid_cnt += 1
    else:
      self.solution_invalid_cnt = 0