Fix 0 init bug for acados lateral (#22225)

* this is needed somehow * new ref
2021-09-13 21:23:22 -07:00 · 2021-09-13 21:23:22 -07:00 · 0dc45eaf1c
parent 369c5d5bff
commit 0dc45eaf1c
2 changed files with 2 additions and 2 deletions
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -62,7 +62,7 @@ class LateralPlanner():
    self.y_pts = np.zeros(TRAJECTORY_SIZE)

    self.lat_mpc = LateralMpc()
-    self.reset_mpc()
+    self.reset_mpc(np.zeros(6))

  def reset_mpc(self, x0=np.zeros(6)):
    self.x0 = x0
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-a256ade033538eeead4f34ad7b12be25237ae443
+d8ba159971afb46d9b936517d2911bb9d5cd3377