Remove lane change toggle and default LDW to off (#20442)

* remove lane change toggle and default LDW to off

* update refs

common/params_pyx.pyx

@@ -49,7 +49,6 @@ keys = {
   b"LastUpdateTime": [TxType.PERSISTENT],
   b"LiveParameters": [TxType.PERSISTENT],
   b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
-  b"LaneChangeEnabled": [TxType.PERSISTENT],
   b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],

selfdrive/controls/lib/lateral_planner.py

@@ -8,7 +8,6 @@ from selfdrive.controls.lib.lateral_mpc import libmpc_py
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT, MPC_N, CAR_ROTATION_RADIUS
 from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
 from selfdrive.config import Conversions as CV
-from common.params import Params
 import cereal.messaging as messaging
 from cereal import log
 
@@ -54,7 +53,6 @@ class LateralPlanner():
 
     self.setup_mpc()
     self.solution_invalid_cnt = 0
-    self.lane_change_enabled = Params().get('LaneChangeEnabled') == b'1'
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
@@ -104,7 +102,7 @@ class LateralPlanner():
     elif sm['carState'].rightBlinker:
       self.lane_change_direction = LaneChangeDirection.right
 
-    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not self.lane_change_enabled):
+    if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX):
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:

selfdrive/manager/manager.py

@@ -37,11 +37,10 @@ def manager_init(spinner=None):
     ("HasAcceptedTerms", "0"),
     ("HasCompletedSetup", "0"),
     ("IsUploadRawEnabled", "1"),
-    ("IsLdwEnabled", "1"),
+    ("IsLdwEnabled", "0"),
     ("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
     ("OpenpilotEnabledToggle", "1"),
     ("VisionRadarToggle", "0"),
-    ("LaneChangeEnabled", "1"),
     ("IsDriverViewEnabled", "0"),
   ]
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f88eda1b667eac0654f65281a16e7713836cb705
+3da639f754563292103525345ec26e384e4cb9a5

selfdrive/ui/qt/offroad/settings.cc

@@ -27,12 +27,6 @@ QWidget * toggles_panel() {
                                             "../assets/offroad/icon_openpilot.png"
                                               ));
   toggles_list->addWidget(horizontal_line());
-  toggles_list->addWidget(new ParamControl("LaneChangeEnabled",
-                                            "Enable Lane Change Assist",
-                                            "Perform assisted lane changes with openpilot by checking your surroundings for safety, activating the turn signal and gently nudging the steering wheel towards your desired lane. openpilot is not capable of checking if a lane change is safe. You must continuously observe your surroundings to use this feature.",
-                                            "../assets/offroad/icon_road.png"
-                                              ));
-  toggles_list->addWidget(horizontal_line());
   toggles_list->addWidget(new ParamControl("IsLdwEnabled",
                                             "Enable Lane Departure Warnings",
                                             "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31mph (50kph).",