From 6065d6bd8861bf312838ce228372dfe6b7a1bfba Mon Sep 17 00:00:00 2001 From: Jonathan Frey Date: Tue, 22 Feb 2022 19:51:18 +0100 Subject: [PATCH] long_mpc set qp_tol to 1e-3 NOTE: 1e-2 was breaking selfdrive/controls/tests/test_following_distance.py for 0 m/s, rest works fine though --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 7f3171a45b3ae8..e00222629ee60c 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -181,7 +181,7 @@ def gen_long_mpc_solver(): # More iterations take too much time and less lead to inaccurate convergence in # some situations. Ideally we would run just 1 iteration to ensure fixed runtime. ocp.solver_options.qp_solver_iter_max = 10 - ocp.solver_options.qp_tol = 1e-2 + ocp.solver_options.qp_tol = 1e-3 # set prediction horizon ocp.solver_options.tf = Tf