refactor: cleanup gravity constant handling (#35866)

* refactor: move lateral methods from init to lateral.py (#2594)

* Extracting lateral methods to lateral.py

* cleaning

* more cleaning

* more cleaning

* Making sure it remains where it should

* Leave rate_limit where it belongs

* Moving things to `car/controls/`

* Moving rate limit to get a taste of the changes

* clean

* copy verbatim

* clean up

* more

* now we can format

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* No need to change order of import

* refactor: consolidate ACCELERATION_DUE_TO_GRAVITY import path

* bump opendbc

* update refs

* don't import from opendbc

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/locationd/calibrationd.py

@@ -14,7 +14,7 @@ from typing import NoReturn
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.conversions import Conversions as CV
+from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot

selfdrive/locationd/models/car_kf.py

@@ -5,7 +5,7 @@ from typing import Any
 
 import numpy as np
 
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 from openpilot.common.swaglog import cloudlog
 

selfdrive/locationd/torqued.py

@@ -4,7 +4,7 @@ from collections import deque, defaultdict
 
 import cereal.messaging as messaging
 from cereal import car, log
-from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter