rename

sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py

@@ -35,7 +35,7 @@ def get_lookahead_value(future_vals, current_val):
   return min_val
 
 
-class NeuralNetworkLateralControlBase:
+class LatControlTorqueExtBase:
   def __init__(self, lac_torque, CP):
     self.model_v2 = None
     self.model_valid = False
@@ -60,7 +60,7 @@ class NeuralNetworkLateralControlBase:
     # Scaling the lateral acceleration "friction response" could be helpful for some.
     # Increase for a stronger response, decrease for a weaker response.
     self.lat_jerk_friction_factor = 0.4
-    self.lat_accel_friction_factor = 0.7 # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit
+    self.lat_accel_friction_factor = 0.7  # in [0, 3], in 0.05 increments. 3 is arbitrary safety limit
 
     # precompute time differences between ModelConstants.T_IDXS
     self.t_diffs = np.diff(ModelConstants.T_IDXS)

sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py

@@ -32,7 +32,7 @@ from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.flux_model import FluxModel
-from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.nnlc_base import NeuralNetworkLateralControlBase
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
 
 
 # At a given roll, if pitch magnitude increases, the
@@ -44,9 +44,9 @@ def roll_pitch_adjust(roll, pitch):
   return roll * math.cos(pitch)
 
 
-class NeuralNetworkLateralControl(NeuralNetworkLateralControlBase):
+class NeuralNetworkLateralControl(LatControlTorqueExtBase):
   def __init__(self, lac_torque, CP, CP_SP):
-    NeuralNetworkLateralControlBase.__init__(self, lac_torque, CP)
+    LatControlTorqueExtBase.__init__(self, lac_torque, CP)
 
     self.lac_torque = lac_torque
     self.params = Params()