3 Commits

Author	SHA1	Message	Date
HaraldSchafer	fcda55fbf1	Fix cruise MPC convergence bug and add test (#22295) ... * fix tests * fix cruise convergence bug * update refs * Update selfdrive/controls/tests/test_cruise_speed.py Co-authored-by: Willem Melching <willem.melching@gmail.com> * Update selfdrive/controls/tests/test_cruise_speed.py * add msgh Co-authored-by: Willem Melching <willem.melching@gmail.com>	2021-09-21 12:19:05 -07:00
Mitchell Goff	485afda79d	Added update_with_xva method to long_mpc so it can be used in sim (#22284)	2021-09-20 14:20:01 -07:00
HaraldSchafer	66c275b711	Acados long fast (#22233) ... * acados long * new ref * SPPEEEEEDDD * less iterations * this shouldn't be so high * reset only essentials * minimal reset for long mpc * more cpu usage plannerd * Use lead mpc even when going to crash * reset to current state * Use open loop speed for lead mpc * 1 iteration is too little for cruise mpc * add whitespace * update refs	2021-09-15 19:00:12 -07:00