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openpilot v0.5.12 release

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This commit is contained in:
Vehicle Researcher
2019-05-16 13:20:29 -07:00
parent 52e55eb244
commit 3f9059fea8
177 changed files with 10381 additions and 835 deletions
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selfdrive/controls/lib/longitudinal_mpc/generator.cpp
+2 -2
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@@ -32,7 +32,7 @@ int main( )
// Running cost
Function h;
h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l));
h << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1;
h << (d_l - desired) / (0.05 * v_ego + 0.5);
h << a_ego * (0.1 * v_ego + 1.0);
h << j_ego * (0.1 * v_ego + 1.0);
@@ -42,7 +42,7 @@ int main( )
// Terminal cost
Function hN;
hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l));
hN << exp(0.3 * NORM_RW_ERROR(v_ego, v_l, d_l)) - 1;
hN << (d_l - desired) / (0.05 * v_ego + 0.5);
hN << a_ego * (0.1 * v_ego + 1.0);