Merge branch 'master' into blend-exp

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

system/hardware/hardwared.py

@@ -18,14 +18,13 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, TICI, AGNOS, PC
+from openpilot.system.hardware import HARDWARE, TICI, AGNOS
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import TiciFanController
 from openpilot.system.version import terms_version, training_version
-from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -333,12 +332,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
-    # *** registration check ***
-    if not PC:
-      # we enforce this for our software, but you are welcome
-      # to make a different decision in your software
-      startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID)
-
     # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
     if TICI and HARDWARE.get_device_type() == "tici":
       if not os.path.isfile("/persist/comma/living-in-the-moment"):