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[WIP] work on Longitudinal mpc #23822

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[WIP] work on Longitudinal mpc #23822

wants to merge 20 commits into from

Commits on Feb 23, 2022

  1. acados_ocp_solver_pyx.pyx: implement get_stats for timings and ints

    @FreyJo
    FreyJo committed Feb 23, 2022
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  2. long_mpc: use acados timers

    @FreyJo
    FreyJo committed Feb 23, 2022
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  3. acados_ocp_solver_pyx.pyx: fix dynamics_get

    @FreyJo
    FreyJo committed Feb 23, 2022
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  4. acados_ocp_solver_pyx.pyx: get statistics

    @FreyJo
    FreyJo committed Feb 23, 2022
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  5. use acados_ocp_solver_pyx.pyx from commaai/cython2 branch

    @FreyJo
    FreyJo committed Feb 23, 2022
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  6. acados_ocp_solver_pyx.pyx: implement store_iterate

    @FreyJo
    FreyJo committed Feb 23, 2022
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  7. acados_ocp_solver_pyx.pyx: implement get_residuals

    @FreyJo
    FreyJo committed Feb 23, 2022
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  8. acados_ocp_solver_pyx.pyx: fix set() for empty fields

    @FreyJo
    FreyJo committed Feb 23, 2022
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  9. acados_ocp_solver_pyx.pyx: load_iterate

    @FreyJo
    FreyJo committed Feb 23, 2022
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  10. cython acados: add print_statistics

    @FreyJo
    FreyJo committed Feb 23, 2022
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  11. test_following_distance: fix typo

    @FreyJo
    FreyJo committed Feb 23, 2022
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  12. test_longitudinal: unique names for test maneuvers

    @FreyJo
    FreyJo committed Feb 23, 2022
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  13. longitudinal MPC: comments for evaluation

    @FreyJo
    FreyJo committed Feb 23, 2022
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  14. longitudinal MPC: add comments to eval acados residuals

    @FreyJo
    FreyJo committed Feb 23, 2022
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  15. long_mpc: use qp_solver_cond_N = 1

    @FreyJo
    FreyJo committed Feb 23, 2022
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  16. long MPC: comments, simplify set_cur_state

    @FreyJo
    FreyJo committed Feb 23, 2022
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  17. long MPC: initialize controls in reset

    @FreyJo
    FreyJo committed Feb 23, 2022
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  18. long_mpc set qp_tol to 1e-2

    @FreyJo
    FreyJo committed Feb 23, 2022
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  19. 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
    @FreyJo
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  20. longitudinal MPC: add L1 penalty on gas to avoid creeping

    @FreyJo
    FreyJo committed Feb 23, 2022
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