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fix jerky cruise control #456

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Merged
sshane merged 1 commit into from
Aug 23, 2021
Merged

fix jerky cruise control #456

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6 changes: 3 additions & 3 deletions selfdrive/controls/lib/long_mpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,14 +21,14 @@ def __init__(self, mpc_id):


def reset_mpc(self):
self.libmpc = libmpc_py.libmpc
ffi, self.libmpc = libmpc_py.get_libmpc(self.mpc_id)
if self.mpc_id == 0:
self.libmpc.init(0.0, 1.0, 0.0, 50.0, 10000.0)
else:
self.libmpc.init(1.0, 1.0, 0.0, 5.0, 10000.0)

self.mpc_solution = libmpc_py.ffi.new("log_t *")
self.cur_state = libmpc_py.ffi.new("state_t *")
self.mpc_solution = ffi.new("log_t *")
self.cur_state = ffi.new("state_t *")

self.cur_state[0].x_ego = 0
self.cur_state[0].v_ego = 0
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3 changes: 2 additions & 1 deletion selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
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Original file line number Diff line number Diff line change
Expand Up @@ -44,4 +44,5 @@ if GetOption('mpc_generate'):


mpc_files = ["longitudinal_mpc.c"] + generated_c
env.SharedLibrary('mpc', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
env.SharedLibrary('mpc0', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
env.SharedLibrary('mpc1', mpc_files, LIBS=['m', 'qpoases'], LIBPATH=['lib_qp'], CPPPATH=cpp_path)
49 changes: 28 additions & 21 deletions selfdrive/controls/lib/longitudinal_mpc_lib/libmpc_py.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,31 +4,38 @@
from common.ffi_wrapper import suffix

mpc_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
libmpc_fn = os.path.join(mpc_dir, "libmpc"+suffix())

ffi = FFI()
ffi.cdef("""
const int MPC_N = 32;
def _get_libmpc(mpc_id):
libmpc_fn = os.path.join(mpc_dir, "libmpc%d%s" % (mpc_id, suffix()))

typedef struct {
double x_ego, v_ego, a_ego;
} state_t;
ffi = FFI()
ffi.cdef("""
const int MPC_N = 32;

typedef struct {
double x_ego, v_ego, a_ego;
} state_t;

typedef struct {
double x_ego[MPC_N+1];
double v_ego[MPC_N+1];
double a_ego[MPC_N+1];
double t[MPC_N+1];
double j_ego[MPC_N];
double cost;
} log_t;

typedef struct {
double x_ego[MPC_N+1];
double v_ego[MPC_N+1];
double a_ego[MPC_N+1];
double t[MPC_N+1];
double j_ego[MPC_N];
double cost;
} log_t;

void init(double xCost, double vCost, double aCost, double jerkCost, double constraintCost);
int run_mpc(state_t * x0, log_t * solution,
double target_x[MPC_N+1], double target_v[MPC_N+1], double target_a[MPC_N+1],
double min_a, double max_a);
""")

libmpc = ffi.dlopen(libmpc_fn)
void init(double xCost, double vCost, double aCost, double jerkCost, double constraintCost);
int run_mpc(state_t * x0, log_t * solution,
double target_x[MPC_N+1], double target_v[MPC_N+1], double target_a[MPC_N+1],
double min_a, double max_a);
""")

return (ffi, ffi.dlopen(libmpc_fn))

mpcs = [_get_libmpc(0), _get_libmpc(1)]

def get_libmpc(mpc_id):
return mpcs[mpc_id]