From bcb5eda05e2adc647c2e1bb9ee1c38516634329f Mon Sep 17 00:00:00 2001 From: Jonathan Frey Date: Tue, 18 Jan 2022 17:31:59 +0100 Subject: [PATCH] long_mpc: use qp_solver_cond_N = 1 --- 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 98d6dafd26533a..e8d86e8b56cd2f 100644 --- 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.