longitudinal MPC: add comments to eval acados residuals

commaai · Feb 23, 2022 · d68bc0b · d68bc0b
1 parent 5470bbd
commit d68bc0b
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
@@ -367,6 +367,9 @@ def run(self):
 
     # 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}")
+    # res = self.solver.get_residuals()
+    # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}")
+    # self.solver.print_statistics()
 
     for i in range(N+1):
       self.x_sol[i] = self.solver.get(i, 'x')