not used for now

sunnypilot/selfdrive/controls/lib/longitudinal_planner.py

@@ -21,7 +21,7 @@ class LongitudinalPlannerSP:
 
     self.dec = DynamicExperimentalController(CP, mpc)
     self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
-    self.slc = SpeedLimitController(CP)
+    self.slc = SpeedLimitController()
 
   @property
   def mlsim(self) -> bool:

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py

@@ -1,3 +1,9 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
 import numpy as np
 import time
 
@@ -29,9 +35,8 @@ class SpeedLimitController:
   _a_ego: float
   _v_offset: float
 
-  def __init__(self, CP):
+  def __init__(self):
     self.params = Params()
-    self.CP = CP
     self.policy = self.params.get("SpeedLimitControlPolicy", return_default=True)
     self.resolver = SpeedLimitResolver(self.policy)
     self.last_params_update = 0.0