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openpilot v0.3.8.2 release

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This commit is contained in:
Vehicle Researcher
2017-10-31 02:27:39 -07:00
parent 61c2994880
commit e9e57ebc4d
70 changed files with 1935 additions and 580 deletions
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5
selfdrive/controls/lib/lateral_mpc/generator.cpp
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@@ -79,7 +79,7 @@ int main( )
Q(3,3) = 1.0;
Q(4,4) = 1.0;
Q(4,4) = 0.5;
// Terminal cost
Function hN;
@@ -118,7 +118,8 @@ int main( )
mpc.set( HESSIAN_APPROXIMATION, GAUSS_NEWTON );
mpc.set( DISCRETIZATION_TYPE, MULTIPLE_SHOOTING );
mpc.set( INTEGRATOR_TYPE, INT_RK4 );
mpc.set( NUM_INTEGRATOR_STEPS, 250 );
mpc.set( NUM_INTEGRATOR_STEPS, 1 * controlHorizon);
mpc.set( MAX_NUM_QP_ITERATIONS, 500);
mpc.set( SPARSE_QP_SOLUTION, CONDENSING );
mpc.set( QP_SOLVER, QP_QPOASES );