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Using lgtm.com and fixing found alerts (#1452)

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* lgtm in readme, and mac nui fixes

* call super inits in radars

* unused imports, dup lines

* more radars, more unused imports

* pass CP into RadarInterfaceBase

* more fixups

* unused imports

* delete unused lines

* ugh, new unused import

Co-authored-by: George Hotz <geohot@gmail.com>
This commit is contained in:
George Hotz
2020-05-02 12:07:34 -07:00
committed by GitHub
parent 846a58507f
commit 1295cfe06c
33 changed files with 27 additions and 164 deletions
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selfdrive/debug/mpc/tune_longitudinal.py
+2 -3
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@@ -3,7 +3,6 @@ import numpy as np
import matplotlib.pyplot as plt
from selfdrive.controls.lib.longitudinal_mpc import libmpc_py
from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG
import math
# plot liongitudinal MPC trajectory by defining boundary conditions:
# ego and lead vehicles state. Use this script to tune MPC costs
@@ -16,7 +15,7 @@ def RW(v_ego, v_l):
def NORM_RW_ERROR(v_ego, v_l, p):
return (RW(v_ego, v_l) + 4.0 - p)
return (RW(v_ego, v_l) + 4.0 - p) / (np.sqrt(v_ego + 0.5) + 0.1)
#return (RW(v_ego, v_l) + 4.0 - p) / (np.sqrt(v_ego + 0.5) + 0.1)
v_ego = 20.0
@@ -36,7 +35,7 @@ a_lead_tau = 0.
# a_lead_tau = 2.90729817665
min_a_lead_tau = (a_lead**2 * math.pi) / (2 * (v_lead + 0.01)**2)
#min_a_lead_tau = (a_lead**2 * math.pi) / (2 * (v_lead + 0.01)**2)
min_a_lead_tau = 0.0
print(a_lead_tau, min_a_lead_tau)