From 0fddd753935095835571be5b86ddc668f0638fb3 Mon Sep 17 00:00:00 2001
From: Simon Pirkelmann <simon.pirkelmann@gmail.com>
Date: Wed, 18 Nov 2020 21:54:23 +0100
Subject: [PATCH] make parameters of mpc controller changeable

---
 remote_control/mpc_controller.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/remote_control/mpc_controller.py b/remote_control/mpc_controller.py
index 33b38b8..44d1dec 100644
--- a/remote_control/mpc_controller.py
+++ b/remote_control/mpc_controller.py
@@ -6,11 +6,11 @@ from casadi_opt import OpenLoopSolver
 
 
 class MPCController(ControllerBase):
-    def __init__(self):
+    def __init__(self, N=20, T=1.0):
         super().__init__()
         self.t = None
 
-        self.ols = OpenLoopSolver(N=20, T=1.0)
+        self.ols = OpenLoopSolver(N=N, T=T)
         self.ols.setup()
         self.control_rate = self.ols.T / self.ols.N