Control : Code cleaning

modules/control/controller/lat_controller.cc

@@ -164,11 +164,6 @@ void LatController::InitializeFilters(const ControlConf *control_conf) {
   LpfCoefficients(ts_, control_conf->lat_controller_conf().cutoff_freq(), &den,
                   &num);
   digital_filter_.set_coefficients(den, num);
-  // Mean filters
-  /**
-  heading_rate_filter_ = MeanFilter(
-      control_conf->lat_controller_conf().mean_filter_window_size());
-  **/
   lateral_error_filter_ =
       MeanFilter(control_conf->lat_controller_conf().mean_filter_window_size());
   heading_error_filter_ =

modules/control/controller/mpc_controller.cc

@@ -303,7 +303,7 @@ Status MPCController::ComputeControlCommand(
         feedforwardterm_interpolation_->Interpolate(
             VehicleStateProvider::instance()->linear_velocity());
     matrix_r_updated_(0, 0) =
-        matrix_r_(2, 2) *
+        matrix_r_(0, 0) *
         steer_weight_interpolation_->Interpolate(
             VehicleStateProvider::instance()->linear_velocity());
   } else {

modules/control/controller/mpc_controller_test.cc

@@ -43,7 +43,7 @@ using apollo::common::VehicleStateProvider;
 class MPCControllerTest : public ::testing::Test, MPCController {
  public:
   virtual void SetUp() {
-    FLAGS_v = 3;
+    FLAGS_v = 4;
     std::string control_conf_file =
         "modules/control/testdata/conf/lincoln.pb.txt";
     ControlConf control_conf;