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NNLC: cleanup unused attributes (#1142)

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* NNLC: cleanup unused attributes

* more cleanup
This commit is contained in:
Jason Wen
2025-08-11 08:28:29 -04:00
committed by GitHub
parent f45ad6bab9
commit fc9a79406f
1 changed files with 5 additions and 7 deletions
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sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+5 -7
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@@ -11,7 +11,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.selfdrive.modeld.constants import ModelConstants
LAT_PLAN_MIN_IDX = 5
LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
def get_predicted_lateral_jerk(lat_accels, t_diffs):
# compute finite difference between subsequent model_v2.acceleration.y values
@@ -46,7 +47,6 @@ class LatControlTorqueExtBase:
self.model_v2 = None
self.model_valid = False
self.torque_params = lac_torque.torque_params
self.use_steering_angle = True # FIXME-SP: deprecated in upstream
self.actual_lateral_jerk: float = 0.0
self.lateral_jerk_setpoint: float = 0.0
@@ -106,9 +106,8 @@ class LatControlTorqueExtBase:
self.lateral_jerk_measurement = 0.0
self.lookahead_lateral_jerk = 0.0
if self.use_steering_angle:
actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
self.actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
self.actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
if self.model_valid:
# prepare "look-ahead" desired lateral jerk
@@ -118,8 +117,7 @@ class LatControlTorqueExtBase:
desired_lateral_jerk = (np.interp(self.desired_lat_jerk_time, ModelConstants.T_IDXS,
self.model_v2.acceleration.y) - desired_lateral_accel) / self.desired_lat_jerk_time
self.lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
if not self.use_steering_angle or self.lookahead_lateral_jerk == 0.0:
self.lookahead_lateral_jerk = 0.0
if self.lookahead_lateral_jerk == 0.0:
self.actual_lateral_jerk = 0.0
self.lat_accel_friction_factor = 1.0
self.lateral_jerk_setpoint = self.lat_jerk_friction_factor * self.lookahead_lateral_jerk