From 4fd4ddb438258a743e3aa7bfdf2860896f9e71b8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Jul 2026 15:55:04 -0700 Subject: [PATCH] long_mpc: remove unused solver state and timings (#38335) --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 8 -------- 1 file changed, 8 deletions(-) diff --git a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 02a424c4c..99d0c7ae6 100755 --- a/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -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')