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Refactor long (#21433)

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* refactor

* needs casting

* tests pass

* fix that test

* refactor in controls

* lets not go crazy

* change of names

* use constants

* better naming

* renamed

* soft constraints

* compile slack variables

* rm git conflict

* add slack variables

* unused

* new edition

* fcw

* fix tests

* dividing causes problems

* was way too slow

* take a step back

* byeeee

* for another time

* bad idxs

* little more cpu for cruise mpc

* update refs

* these limits seem fine

* rename

* test model timings fails sometimes

* add default

* save some cpu

* Revert "little more cpu for cruise mpc"

This reverts commit f0a8163ec90e8dc1eabb3c4a4268ad330d23374d.

* Revert "test model timings fails sometimes"

This reverts commit d259d845710ed2cbeb28b383e2600476527d4838.

* update refs

* less cpu

* Revert "Revert "test model timings fails sometimes""

This reverts commit e0263050d9929bfc7ee70c9788234541a4a8461c.

* Revert "less cpu"

This reverts commit 679007472bc2013e7fafb7b17de7a43d6f82359a.

* cleanup

* not too much until we clean up mpc

* more cost on jerk

* change ref

* add todo

* new ref

* indentation
old-commit-hash: be5ddd25cd
This commit is contained in:
HaraldSchafer
2021-07-07 19:42:26 -07:00
committed by GitHub
parent e306287b27
commit 96d4bfbff3
60 changed files with 3544 additions and 745 deletions
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release/files_common
+15 -16
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@@ -238,10 +238,9 @@ selfdrive/controls/lib/pid.py
selfdrive/controls/lib/longitudinal_planner.py
selfdrive/controls/lib/radar_helpers.py
selfdrive/controls/lib/vehicle_model.py
selfdrive/controls/lib/speed_smoother.py
selfdrive/controls/lib/fcw.py
selfdrive/controls/lib/long_mpc.py
selfdrive/controls/lib/long_mpc_model.py
selfdrive/controls/lib/lead_mpc.py
selfdrive/controls/lib/cluster/*
@@ -253,21 +252,21 @@ selfdrive/controls/lib/lateral_mpc/generator.cpp
selfdrive/controls/lib/lateral_mpc/libmpc_py.py
selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/*
selfdrive/controls/lib/longitudinal_mpc/.gitignore
selfdrive/controls/lib/longitudinal_mpc/SConscript
selfdrive/controls/lib/longitudinal_mpc/__init__.py
selfdrive/controls/lib/longitudinal_mpc/generator.cpp
selfdrive/controls/lib/longitudinal_mpc/libmpc_py.py
selfdrive/controls/lib/longitudinal_mpc/longitudinal_mpc.c
selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/*
selfdrive/controls/lib/lead_mpc_lib/.gitignore
selfdrive/controls/lib/lead_mpc_lib/SConscript
selfdrive/controls/lib/lead_mpc_lib/__init__.py
selfdrive/controls/lib/lead_mpc_lib/generator.cpp
selfdrive/controls/lib/lead_mpc_lib/libmpc_py.py
selfdrive/controls/lib/lead_mpc_lib/longitudinal_mpc.c
selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/*
selfdrive/controls/lib/longitudinal_mpc_model/.gitignore
selfdrive/controls/lib/longitudinal_mpc_model/SConscript
selfdrive/controls/lib/longitudinal_mpc_model/__init__.py
selfdrive/controls/lib/longitudinal_mpc_model/generator.cpp
selfdrive/controls/lib/longitudinal_mpc_model/libmpc_py.py
selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c
selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/*
selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
selfdrive/controls/lib/longitudinal_mpc_lib/generator.cpp
selfdrive/controls/lib/longitudinal_mpc_lib/libmpc_py.py
selfdrive/controls/lib/longitudinal_mpc_lib/longitudinal_mpc.c
selfdrive/hardware/__init__.py
selfdrive/hardware/base.h