ACADOS first element speed output garbage, not reporoduced offline

commaai / openpilot

openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system in 275+ supported cars.

https://comma.ai/openpilot

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ACADOS first element speed output garbage, not reporoduced offline #22493

Closed haraschax closed 2 years ago

haraschax commented 2 years ago

4d5e075821d0d877|2021-10-07--10-53-28--5

The first elements of longPlan.speeds in this segment are not consistent with the rest of the plan, causing erratic braking. This is not reproduce able with process replay. My best guess is some issues with the state of the ACADOS solver.

haraschax commented 2 years ago

Fixed with https://github.com/commaai/openpilot/commit/04cf12cb0064f42e507fd6ae907564cecf140d28