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remove unused last_actuators arg from lateral controllers (#30595)

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This commit is contained in:
Adeeb Shihadeh
2023-12-03 15:54:18 -08:00
committed by GitHub
parent bd0ab957b1
commit ce4bac8218
6 changed files with 6 additions and 8 deletions
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selfdrive/controls/controlsd.py
+1 -1
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@@ -614,7 +614,7 @@ class Controls:
lat_plan.curvatures,
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.last_actuators, self.steer_limited, self.desired_curvature,
self.steer_limited, self.desired_curvature,
self.desired_curvature_rate, self.sm['liveLocationKalman'])
actuators.curvature = self.desired_curvature
else:
selfdrive/controls/lib/latcontrol.py
+1 -1
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@@ -17,7 +17,7 @@ class LatControl(ABC):
self.steer_max = 1.0
@abstractmethod
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
pass
def reset(self):
selfdrive/controls/lib/latcontrol_angle.py
+1 -1
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@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
super().__init__(CP, CI)
self.sat_check_min_speed = 5.
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
angle_log = log.ControlsState.LateralAngleState.new_message()
if not active:
selfdrive/controls/lib/latcontrol_pid.py
+1 -1
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@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
super().reset()
self.pid.reset()
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
pid_log = log.ControlsState.LateralPIDState.new_message()
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
pid_log.steeringRateDeg = float(CS.steeringRateDeg)
selfdrive/controls/lib/latcontrol_torque.py
+1 -1
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@@ -36,7 +36,7 @@ class LatControlTorque(LatControl):
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
pid_log = log.ControlsState.LateralTorqueState.new_message()
if not active:
selfdrive/controls/lib/tests/test_latcontrol.py
+1 -3
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@@ -30,13 +30,11 @@ class TestLatControl(unittest.TestCase):
CS.vEgo = 30
CS.steeringPressed = False
last_actuators = car.CarControl.Actuators.new_message()
params = log.LiveParametersData.new_message()
llk = gen_llk()
for _ in range(1000):
_, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk)
_, _, lac_log = controller.update(True, CS, VM, params, False, 1, 0, llk)
self.assertTrue(lac_log.saturated)