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Longmpc #563

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rhinodavid commented Mar 11, 2019

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David Walsh and others added some commits Mar 5, 2019

David Walsh
Update longitudinal mpc with follow distance param
Update generator.cpp to parameterize the follow time. Then, using the process outlined in
the ACADO docs (https://acado.github.io/cgt_overview.html), rebuild the generator binary
and run it to regenerate the source files in lib_mpc_export, then manually copy them into
the openpilot repo.

Update longitudinal_mpc.c, libmpc_py.py, and planner.py to take in the additional
follow_time parameter.

Incorporate arne182's PR to update the Makefile
(#248). Note that I did not use the generate
recipie inside the repo; I created the files outside of the repo as stated above.
David Walsh
Add distance cost parameter to longitudinal mpc
The distance cost was hardcoded, allow with the time gap. But as we lower the
time gap we will need to increase the distance cost for reliable control

@rhinodavid rhinodavid closed this Mar 11, 2019

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