cleanup

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)

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