commaai#3

jpancotti · Jan 9, 2021 · 9ee615a · 9ee615a
1 parent 9b84ec0
commit 9ee615a
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py b/selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
@@ -29,8 +29,9 @@ def _get_libmpc(mpc_id):
 
     void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
     void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l);
+    void change_tr(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
     int run_mpc(state_t * x0, log_t * solution,
-                double l, double a_l_0);
+                double l, double a_l_0, double TR);
     """)
 
     return (ffi, ffi.dlopen(libmpc_fn))