longitudinal MPC: comments for evaluation

commaai · Feb 23, 2022 · 5470bbd · 5470bbd
1 parent ab0bc60
commit 5470bbd
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -365,6 +365,9 @@ def run(self):
     self.time_linearization = float(self.solver.get_stats('time_lin')[0])
     self.time_integrator = float(self.solver.get_stats('time_sim')[0])
 
+    # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific
+    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
+
     for i in range(N+1):
       self.x_sol[i] = self.solver.get(i, 'x')
     for i in range(N):