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refactor: cleanup gravity constant handling (#35866)

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* 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

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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

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Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
DevTekVE
2025-08-02 20:20:18 +02:00
committed by GitHub
parent 313f36712c
commit 9dc98b36be
18 changed files with 22 additions and 18 deletions
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selfdrive/locationd/models/car_kf.py
+1 -1
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@@ -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