From e75470f2e8bd791f29d3740abd0eaba7b709fc00 Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Wed, 7 Oct 2026 23:46:25 -0500 Subject: [PATCH] Overrun --- .../lib/longitudinal_mpc_lib/SConscript | 2 + .../libacados_ocp_solver_long.so | Bin 91048 -> 160736 bytes .../lib/longitudinal_mpc_lib/long_mpc.py | 10 ++- .../tests/test_longitudinal_planner.py | 24 ++++++ starpilot/car/ford/lateral.py | 15 ++++ starpilot/car/ford/tests/test_lateral.py | 81 ++++++++++++++++++ 6 files changed, 131 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 164b965142..5c316ed8e2 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -28,6 +28,8 @@ casadi_cost_0 = [ casadi_constraints = [ f'{gen}/long_constraints/long_constr_h_fun.c', f'{gen}/long_constraints/long_constr_h_fun_jac_uxt_zt.c', + f'{gen}/long_constraints/long_constr_h_e_fun.c', + f'{gen}/long_constraints/long_constr_h_e_fun_jac_uxt_zt.c', ] build_files = [f'{gen}/acados_solver_long.c'] + casadi_model + casadi_cost_y + casadi_cost_e + \ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so index f50a9487194ed75b5dc4e2410655efce7df7cb02..036bc6a785ef3a3e9b76432f9632cc91f5c53ac7 100755 GIT binary patch literal 160736 zcmeFa3t&^lwmv?2w3Me63RI{i1=RAc%A+VqS`dmNR;bEFv`HV(LSM86K@b8~
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