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no need for this

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This commit is contained in:
Jason Wen
2025-03-20 18:04:13 -04:00
parent f2fc599b41
commit cffd56a753
1 changed files with 0 additions and 4 deletions
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selfdrive/controls/controlsd.py
-4
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@@ -118,10 +118,6 @@ class Controls:
if not CC.longActive:
self.LoC.reset()
# Neural Network Lateral Control
if self.CP_SP.neuralNetworkLateralControl.enabled or self.params.get_bool("LateralTorqueControlEnhancedLateralAccel"):
self.LaC.extension.update_model_v2(model_v2)
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))