cleanup

Original PRs: #115, #116, #117, and #118 by @1454

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -260,8 +260,6 @@ MAX_UPHILL_GRADE_FF = 0.20
 
 
 def limit_grade_feedforward(planner_accel: float, pitch_accel: float) -> float:
-  # Planner already closed-loops hill sag. Stacking full g*sin(pitch) on a
-  # positive command is what kick-downs 10-speed trucks.
   if pitch_accel > 0.0 and planner_accel > 0.0:
     return 0.0
   if pitch_accel > MAX_UPHILL_GRADE_FF:

opendbc_repo/opendbc/car/gm/interface.py

@@ -500,7 +500,6 @@ class CarInterface(CarInterfaceBase):
         ret.flags |= GMFlags.PEDAL_LONG.value
 
     elif candidate in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC):
-      # Let stock Silverado ACC decide whether standstill engagement is valid.
       ret.minEnableSpeed = 0.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -291,8 +291,6 @@ EXPERIMENTAL_RELEASE_ACCEL_MAX_LATERAL_OFFSET = 1.5
 EXPERIMENTAL_RELEASE_ACCEL_MIN_HEADWAY_MARGIN = 0.0
 EXPERIMENTAL_RELEASE_ACCEL_MIN_DELTA_A = 0.12
 EXPERIMENTAL_RELEASE_ACCEL_STEP = 0.06
-# Last few mph below CESpeed/CESpeedLead: mix MPC back in so experimental
-# cannot crawl into the breakpoint and then snap to ACC.
 EXPERIMENTAL_SPEED_HANDOFF_BAND = 5.0 * CV.MPH_TO_MS
 EXPERIMENTAL_HANDOFF_KEEP_E2E_BRAKE = -0.15
 MATCHED_FOLLOW_TRANSITION_MIN_SPEED = 20.0
@@ -1798,16 +1796,12 @@ class LongitudinalPlanner:
 
   @staticmethod
   def is_cem_following_lead(tracking_lead, d_rel, t_follow, v_ego):
-    # Same inputs as StarPilotFollowing.following_lead / CEM: published
-    # trackingLead and tFollow, plus leadOne.dRel inside 2*t_follow*v_ego.
     return bool(tracking_lead and float(d_rel) < (float(t_follow) * 2.0) * float(v_ego))
 
   @staticmethod
   def apply_experimental_speed_handoff(output_a_target, output_a_target_mpc, output_a_target_e2e, speed_handoff):
     if speed_handoff <= 0.0:
       return output_a_target
-    # Keep a real E2E brake. Only mix MPC back in when experimental is crawling
-    # or matching ACC, not when it is already asking for more deceleration.
     if output_a_target_e2e < min(output_a_target_mpc, EXPERIMENTAL_HANDOFF_KEEP_E2E_BRAKE):
       return output_a_target
     return (1.0 - speed_handoff) * output_a_target + speed_handoff * output_a_target_mpc

selfdrive/controls/tests/test_longitudinal_planner.py

@@ -3732,7 +3732,6 @@ def test_experimental_speed_handoff_keeps_stronger_e2e_brake():
 
 
 def test_experimental_speed_handoff_following_lead_matches_cem_window():
-  # Distant radar-active lead is not CEM following_lead.
   assert LongitudinalPlanner.is_cem_following_lead(True, 40.0, 1.5, 20.0)
   assert not LongitudinalPlanner.is_cem_following_lead(True, 80.0, 1.5, 20.0)
   assert not LongitudinalPlanner.is_cem_following_lead(False, 10.0, 1.5, 20.0)

selfdrive/ui/soundd.py

@@ -205,7 +205,6 @@ class Soundd:
   def load_sounds(self):
     self.loaded_sounds: dict[int, np.ndarray] = {}
 
-    # Load all sounds. Prefer theme/random-event clips, then packaged stock.
     for sound in sound_list:
       filename, play_count, volume = sound_list[sound]
       loaded = False

starpilot/controls/lib/starpilot_following.py

@@ -108,7 +108,6 @@ class StarPilotFollowing:
 
     self.update_lane_change_gap(long_control_active, v_ego, sm, starpilot_toggles)
 
-    # After t_follow adjustments so CEM and the published tFollow use the same window.
     self.following_lead = self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.dRel < (self.t_follow * 2) * v_ego
 
     self.disable_throttle = False