just use existing function

commaai · Jan 4, 2022 · b20b446 · b20b446
1 parent aa3bb80
commit b20b446
Showing 1 changed file with 3 additions and 6 deletions.
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -221,7 +221,9 @@ def reset(self):
   def set_weights(self):
     if self.e2e:
       self.set_weights_for_xva_policy()
-      self.set_params_for_xva_policy()
+      self.params[:, 0] = -10.
+      self.params[:, 1] = 10.
+      self.params[:, 2] = 1e5 * np.ones((N + 1))
     else:
       self.set_weights_for_lead_policy()
 
@@ -252,11 +254,6 @@ def set_weights_for_xva_policy(self):
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_params_for_xva_policy(self):
-    self.params[:,0] = -10.
-    self.params[:,1] = 10.
-    self.params[:,2] = 1e5*np.ones((N+1))
-
   def set_cur_state(self, v, a):
     if abs(self.x0[1] - v) > 2.:
       self.x0[1] = v