From b99eb7d379a9c67d97e3f963472d44b2de8375f9 Mon Sep 17 00:00:00 2001 From: Kumar <36933347+rav4kumar@users.noreply.github.com> Date: Tue, 22 Oct 2024 05:04:02 -0700 Subject: [PATCH] Update long_mpc.py --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index cf4cf5dad2..70310de3cd 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -365,7 +365,7 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, 'Zl', Zl) - def set_weights(self, prev_accel_constraint=True, personality=custom.LongitudinalPersonalitySP.standard): + def set_weights(self, prev_accel_constraint=True, v_lead0 = 0., v_lead1 = 0., personality=custom.LongitudinalPersonalitySP.standard): v_ego = self.x0[1] jerk_factor = get_jerk_factor(personality) a_change_factor = get_a_change_factor(v_ego, v_lead0, v_lead1, personality)