Update very old version of qpOASES library

commaai / openpilot

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

https://comma.ai/openpilot

MIT License

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Update very old version of qpOASES library #683

Closed jqnatividad closed 3 years ago

jqnatividad commented 5 years ago

Bundled version is 1.3 https://github.com/commaai/openpilot/blob/devel/phonelibs/qpoases/VERSIONS.txt

Latest version is 3.1 https://projects.coin-or.org/qpOASES/browser/trunk/VERSIONS

pd0wm commented 5 years ago

Version 1.3 is the only version supported by the code generation part of Acado, our Non-Linear Model Predictive Control library.

Unfortunately it looks like acado is no longer being developed. However, there is not much choice in NPMC libraries that can run real-time on embedded hardware. At some point I might decide to write a subset of acado functionality for use in openpilot, but that is a huge undertaking.

renegadephysicist commented 5 years ago

FYI Acado does support the C version of qpOASES 3.1.

Just use: mpc.set(QP_SOLVER, QP_QPOASES3);

pd0wm commented 5 years ago

Good catch, I'll check it out!