Merge branch 'devel-en' into devel-zht

selfdrive/controls/controlsd.py

@@ -341,7 +341,7 @@ def data_send(sm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, ca
     "vEgo": CS.vEgo,
     "vEgoRaw": CS.vEgoRaw,
     "angleSteers": CS.steeringAngle,
-    "curvature": VM.calc_curvature(CS.steeringAngle * CV.DEG_TO_RAD, CS.vEgo),
+    "curvature": VM.calc_curvature((CS.steeringAngle - sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD, CS.vEgo),
     "steerOverride": CS.steeringPressed,
     "state": state,
     "engageable": not bool(get_events(events, [ET.NO_ENTRY])),

selfdrive/controls/lib/planner.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python
-import zmq
 import math
 import numpy as np
 from common.params import Params
@@ -65,7 +64,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 class Planner(object):
   def __init__(self, CP, fcw_enabled):
     self.CP = CP
-    self.poller = zmq.Poller()
 
     self.plan = messaging.pub_sock(service_list['plan'].port)
     self.live_longitudinal_mpc = messaging.pub_sock(service_list['liveLongitudinalMpc'].port)