From fc9a79406fcdc906f72899c07b455648794139f2 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 11 Aug 2025 08:28:29 -0400 Subject: [PATCH] NNLC: cleanup unused attributes (#1142) * NNLC: cleanup unused attributes * more cleanup --- .../controls/lib/latcontrol_torque_ext_base.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py index 6a39b3172..644f28573 100644 --- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py +++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py @@ -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