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Expand lateral MPC to 10s (#27343)

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* 10s lat

* Full length MPC

* redfine N

* Leave controls the same for now

* Updates

* use long plan in lat plan

* interp plan

* add new interp

* simplergit add selfdrive/controls/plannerd.py selfdrive/controls/

* expand to 10s

* revert this

* fix linter

* Update sconscripts

* fix test

* fix test

* fix test

* Revert "Update sconscripts"

This reverts commit 6e23c69dcebd5ed003e37e01921f6af7c31de0db.

* Dont import drive helpers

* better compile deps

* fix compile

* comment

* update replay

* Update plannerd time
old-commit-hash: 04fe6c4ec7
This commit is contained in:
Harald Schäfer
2023-02-17 15:28:26 -08:00
committed by GitHub
parent 4a1afb6de0
commit 73561f01e0
9 changed files with 24 additions and 19 deletions
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selfdrive/controls/lib/lateral_mpc_lib/SConscript
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@@ -47,6 +47,7 @@ acados_dir = '#third_party/acados'
acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
source_list = ['lat_mpc.py',
'#/selfdrive/modeld/constants.py',
f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
f'{acados_dir}/x86_64/lib/libacados.so',
f'{acados_dir}/larch64/lib/libacados.so',