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nopenpilot/selfdrive/modeld/constants.py

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Refactor lateral lag compensation (#21334) * add T_IDXS * refactor * fix test * unused * typo * needs casting * Update selfdrive/controls/lib/drive_helpers.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * deprecate field * regen all * new segs * add todo * split back * clean * bad names * do in controls * add arg Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2021-06-30 15:19:39 -06:00
IDX_N = 33
logcatd, loggerd, mapd, modeld, proclogd
2020-01-17 12:20:17 -07:00
ACADOS fix non-convergence when long_plan changes (#22495) * debug commit * cleanup * some indexing bugs * need more its * BALANCE is way better it seems * fix test * this converges in 2000segs * new ref * less cpu
2021-10-10 01:05:29 -06:00
def index_function(idx, max_val=192, max_idx=32):
return (max_val) * ((idx/max_idx)**2)
Refactor lateral lag compensation (#21334) * add T_IDXS * refactor * fix test * unused * typo * needs casting * Update selfdrive/controls/lib/drive_helpers.py Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * deprecate field * regen all * new segs * add todo * split back * clean * bad names * do in controls * add arg Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
2021-06-30 15:19:39 -06:00
less np (#21536)
2021-07-09 12:34:00 -06:00
T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]