From fada3322b07e68a8b5f97b6c293191b1be22ca94 Mon Sep 17 00:00:00 2001
From: Jonathan Frey <jonathanpaulfrey@gmail.com>
Date: Wed, 23 Feb 2022 15:09:47 +0100
Subject: [PATCH] longitudinal mpc: weigh a_change in 1 place only

---
 selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index d51c86539007fc..e91decb3fd1814 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -34,7 +34,7 @@
 V_EGO_COST = 0.
 A_EGO_COST = 0.
 J_EGO_COST = 5.0
-A_CHANGE_COST = .5
+A_CHANGE_COST = 200.
 DANGER_ZONE_COST = 100.
 CRASH_DISTANCE = .5
 LIMIT_COST = 1e6
@@ -136,7 +136,7 @@ def gen_long_mpc_solver():
            x_ego,
            v_ego,
            a_ego,
-           20*(a_ego - prev_a),
+           a_ego - prev_a,
            j_ego]
   ocp.model.cost_y_expr = vertcat(*costs)
   ocp.model.cost_y_expr_e = vertcat(*costs[:-1])