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Update long_mpc api for use with sim (#21890)

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old-commit-hash: 3022f68fa70574202d7bd5ed0100133719e2316c
This commit is contained in:
Mitchell Goff
2021-08-10 10:51:38 -07:00
committed by GitHub
parent f52983fbfc
commit 7fffcd9baa
1 changed files with 3 additions and 1 deletions
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4
selfdrive/controls/lib/long_mpc.py
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@@ -45,12 +45,14 @@ class LongitudinalMpc():
self.cur_state[0].v_ego = v_safe
self.cur_state[0].a_ego = a_safe
def update(self, carstate, model, v_cruise):
def update(self, carstate, radarstate, v_cruise):
v_cruise_clipped = np.clip(v_cruise, self.cur_state[0].v_ego - 10., self.cur_state[0].v_ego + 10.0)
poss = v_cruise_clipped * np.array(T_IDXS[:LON_MPC_N+1])
speeds = v_cruise_clipped * np.ones(LON_MPC_N+1)
accels = np.zeros(LON_MPC_N+1)
self.update_with_xva(poss, speeds, accels)
def update_with_xva(self, poss, speeds, accels):
# Calculate mpc
self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
list(poss), list(speeds), list(accels),