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long_mpc: remove unused solver state and timings (#38335)

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Adeeb Shihadeh
2026-07-14 15:55:04 -07:00
committed by GitHub
parent 503531ab38
commit 4fd4ddb438
1 changed files with 0 additions and 8 deletions
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openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
-8
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@@ -240,14 +240,10 @@ class LongitudinalMpc:
self.solver.set(i, 'x', np.zeros(X_DIM))
self.last_cloudlog_t = 0
self.status = False
self.crash_cnt = 0.0
self.solution_status = 0
# timers
self.solve_time = 0.0
self.time_qp_solution = 0.0
self.time_linearization = 0.0
self.time_integrator = 0.0
self.x0 = np.zeros(X_DIM)
self.set_weights()
@@ -316,7 +312,6 @@ class LongitudinalMpc:
def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
t_follow = get_T_FOLLOW(personality)
v_ego = self.x0[1]
self.status = radarstate.leadOne.status or radarstate.leadTwo.status
lead_xv_0 = self.process_lead(radarstate.leadOne)
lead_xv_1 = self.process_lead(radarstate.leadTwo)
@@ -365,9 +360,6 @@ class LongitudinalMpc:
self.solution_status = self.solver.solve()
self.solve_time = float(self.solver.get_stats('time_tot')[0])
self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
self.time_linearization = float(self.solver.get_stats('time_lin')[0])
self.time_integrator = float(self.solver.get_stats('time_sim')[0])
for i in range(N+1):
self.x_sol[i] = self.solver.get(i, 'x')