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Revert "test_models: check consitency between panda and openpilot for velocity (#30750)" (#30753)

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This reverts commit 1ca1cf3922.
This commit is contained in:
Shane Smiskol
2023-12-15 17:16:01 -08:00
committed by GitHub
parent 1ca1cf3922
commit 123ef46af3
2 changed files with 1 additions and 7 deletions
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panda
+1 -1
Submodule panda updated: 7e2b312fa8...bb75afc84e
selfdrive/car/tests/test_models.py
-6
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@@ -23,7 +23,6 @@ from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import Route, SegmentName, RouteName
from panda.tests.libpanda import libpanda_py
from panda.tests.safety.common import VEHICLE_SPEED_FACTOR
EventName = car.CarEvent.EventName
PandaType = log.PandaState.PandaType
@@ -346,11 +345,6 @@ class TestCarModelBase(unittest.TestCase):
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
# Verify that panda has the correct velocity for cars that use it (angle based cars)
if self.CP.steerControlType in [car.CarParams.SteerControlType.angle] and not self.CP.notCar:
panda_velocity = self.safety.get_vehicle_speed_last() / VEHICLE_SPEED_FACTOR
checks['vEgo'] += abs(panda_velocity - CS.vEgoRaw) > 0.2
if self.CP.pcmCruise:
# On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
# On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but