now publishing vx in debug msg

fetty31 · Jan 16, 2024 · e6d20c2 · e6d20c2
1 parent a59ecf4
commit e6d20c2
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Showing 2 changed files with 1 addition and 57 deletions.
diff --git a/params/dyn_autox_testing.yaml b/params/dyn_autox_testing.yaml
diff --git a/src/mpc.cpp b/src/mpc.cpp
@@ -578,6 +578,7 @@ void MPC::get_debug_solution(as_msgs::MPCdebug *msg){
         msg->k = this->forces.params.all_parameters[24 + this->latency * this->Npar];
 
         double vx = this->forces.params.all_parameters[23 + this->latency * this->Npar];
+        msg->vx = vx;
 
         msg->alpha_f = atan( (msg->vy + this->Lf * msg->r)/vx ) - msg->delta;
         msg->alpha_r = atan( (msg->vy - this->Lr * msg->r)/vx );