long_mpc: use qp_solver_cond_N = 1

commaai · Feb 23, 2022 · bcb5eda · bcb5eda
1 parent d68bc0b
commit bcb5eda
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -176,7 +176,7 @@ def gen_long_mpc_solver():
   ocp.solver_options.hessian_approx = 'GAUSS_NEWTON'
   ocp.solver_options.integrator_type = 'ERK'
   ocp.solver_options.nlp_solver_type = 'SQP_RTI'
-  ocp.solver_options.qp_solver_cond_N = N//4
+  ocp.solver_options.qp_solver_cond_N = 1
 
   # 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.