From f1aab78d085c416f9dc56f4fdfd2e1f5eb9d4b4b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 13 Mar 2022 21:45:23 -0700 Subject: [PATCH] longitudinal MPC: add MAX_T in T_IDXS_LST (#23960) * longitudinal MPC: add MAX_T in T_IDXS_LST * update refs Co-authored-by: KexianShen --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 94d7ae80ea..69bf081ee3 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -45,7 +45,7 @@ ACADOS_SOLVER_TYPE = 'SQP_RTI' # much better convergence of the MPC with low iterations N = 12 MAX_T = 10.0 -T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N+1) for idx in range(N+1)] +T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)] T_IDXS = np.array(T_IDXS_LST) T_DIFFS = np.diff(T_IDXS, prepend=[0.]) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d81fe18ac1..3226b8614b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c6d7afb13c183852f8d61d5f79495b828ed401ed \ No newline at end of file +37aa2e3afedc8364d2bbecc5f1b7ed4efec52e30 \ No newline at end of file