From b0817dacefaf9461f615bbf52150d91151e12530 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 2 Apr 2026 00:18:57 -0500
Subject: [PATCH] remove lon slope

---
 selfdrive/controls/lib/longitudinal_planner.py | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index f88e62994..a448540e6 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -363,12 +363,6 @@ class LongitudinalPlanner:
     # Trigger if either slope is high or magnitude is high; require a valid lead and closing
     panic_bypass = closing_fast and (uncert_slope > UNCERT_SLOPE_TRIG or uncertainty >= UNCERT_MAG_TRIG)
 
-    if panic_bypass:
-      try:
-        cloudlog.error(f"LON_SLOPE; slope={uncert_slope:.3f}/s; uncertainty={uncertainty:.3f}; v_ego={v_ego:.2f}; v_rel={(v_ego - self.lead_one.vLead) if self.lead_one.status else 0.0:.2f}; lead_dist={self.lead_dist_f if self.lead_dist_f is not None else -1:.2f}; trigger=True")
-      except Exception:
-        pass
-
     personality = get_longitudinal_personality(sm)
 
     self.mpc.set_weights(sm['starpilotPlan'].accelerationJerk,