#2

jpancotti · Jan 9, 2021 · 9b84ec0 · 9b84ec0
1 parent db4aa67
commit 9b84ec0
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
@@ -91,7 +91,10 @@ def update(self, pm, CS, lead):
 
     # Calculate mpc
     t = sec_since_boot()
-    n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead)
+    TR = 1.8  # todo: your custom logic to decide TR in seconds here
+    # cost = 0.1  # todo: from MPC_COST_LONG.DISTANCE, this needs to change with distance
+    # self.libmpc.change_tr(MPC_COST_LONG.TTC, cost, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)  # todo: so update with this line every time you change TR
+    n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
     duration = int((sec_since_boot() - t) * 1e9)
 
     if LOG_MPC: