From cffd56a75327df9acc1602f431dcaa0d79ab2f77 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 20 Mar 2025 18:04:13 -0400 Subject: [PATCH] no need for this --- selfdrive/controls/controlsd.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 5d917bc27e..294722c06a 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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))