From cc507a5cd9ed4c5fd491c76cb912f4da11f4e40e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 12 Jan 2025 16:40:07 -0500
Subject: [PATCH] cleanup

---
 cereal/custom.capnp             | 6 ++----
 common/params.cc                | 1 -
 selfdrive/car/card.py           | 3 ---
 selfdrive/controls/controlsd.py | 2 +-
 system/manager/manager.py       | 2 +-
 5 files changed, 4 insertions(+), 10 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index eef2b7938e..bffc1e4d3b 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -83,10 +83,8 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
 }
 
 struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  e2eBlended @0 :Text;
-  e2eStatus @1 :Bool;
-  mpcSource @2 :MpcSource;
-  dynamicExperimentalControl @3 :Bool;
+  mpcSource @0 :MpcSource;
+  dynamicExperimentalControl @1 :Bool;
   
   enum MpcSource {
     acc @0;
diff --git a/common/params.cc b/common/params.cc
index a2f0aeaa91..3c11e034cb 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -223,7 +223,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SunnylinkDongleId", PERSISTENT},
     {"SunnylinkdPid", PERSISTENT},
     {"SunnylinkEnabled", PERSISTENT},
-    {"EnableGithubRunner", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
 };
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 7341939144..1852dccf74 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -76,8 +76,6 @@ class Car:
     self.CC_prev = car.CarControl.new_message()
     self.initialized_prev = False
 
-    self.dynamic_experimental_control = False
-
     self.last_actuators_output = structs.CarControl.Actuators()
 
     self.params = Params()
@@ -159,7 +157,6 @@ class Car:
 
     self.is_metric = self.params.get_bool("IsMetric")
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
-    self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
 
     # card is driven by can recv, expected at 100Hz
     self.rk = Ratekeeper(100, print_delay_threshold=None)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 2d76865369..9a230e4d83 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -38,7 +38,7 @@ class Controls:
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'longitudinalPlanSP'], poll='selfdriveState')
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'])
 
     self.steer_limited = False
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 96e8f6e858..499ed6474b 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -40,10 +40,10 @@ def manager_init() -> None:
     ("LanguageSetting", "main_en"),
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
-    ("DynamicExperimentalControl", "0"),
   ]
 
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
+    ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),