The source project of this merge request has been removed.
mpc_follower: add input time delay compensation
Implemented feature
Add input delay compensation for mpc to improve path following accuracy.
Description
The input time delay, which arise from sensor or linux-ECU communication delay, causes oscillation or bad tracking performance for waypoint follower. I added a time delay compensation in mpc_follower. The MPC theory can deal with the time delay with a natural expansion of the theory.
Implementation description
In mpc algorithm : calculateMPC(), save previously calculated inputs and update model for compensation time.