add a change cost

2021-12-06 16:16:51 -08:00 · 2021-12-06 16:16:51 -08:00 · 9afc95474d
parent 7e66a944b2
commit 9afc95474d
1 changed files with 1 additions and 1 deletions
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -242,7 +242,7 @@ class LongitudinalMpc():
      self.solver.cost_set(i, 'Zl', Zl)

  def set_weights_for_xva_policy(self):
-    W = np.asfortranarray(np.diag([0., 10., 1., 10., 1.]))
+    W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.]))
    for i in range(N):
      self.solver.cost_set(i, 'W', W)
    # Setting the slice without the copy make the array not contiguous,