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cleanup remnants of LQR and INDI tuning (#29860)

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* not use 'indi' cleanup

* bump cereal

* rm more

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 238f9d65dbc17613c2a045b5741483c3f9a7659d
This commit is contained in:
Lee Jong Mun
2023-09-11 08:30:13 +09:00
committed by GitHub
parent ed79ecff3c
commit 89e5ee45ca
5 changed files with 3 additions and 10 deletions
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cereal
+1 -1
Submodule cereal updated: d469732b3b...7de568b659
selfdrive/car/tests/test_car_interfaces.py
-3
View File
@@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase):
self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
elif tune.which() == 'indi':
self.assertTrue(len(tune.indi.outerLoopGainV))
cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
# Run car interface
now_nanos = 0
selfdrive/car/tests/test_models.py
-2
View File
@@ -187,8 +187,6 @@ class TestCarModelBase(unittest.TestCase):
self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
elif tuning == 'torque':
self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
elif tuning == 'indi':
self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
else:
raise Exception("unknown tuning")
selfdrive/controls/controlsd.py
-2
View File
@@ -807,8 +807,6 @@ class Controls:
controlsState.lateralControlState.pidState = lac_log
elif lat_tuning == 'torque':
controlsState.lateralControlState.torqueState = lac_log
elif lat_tuning == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
selfdrive/test/process_replay/test_processes.py
+2 -2
View File
@@ -20,8 +20,8 @@ source_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS)
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2
("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC)
("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH)