remove unused last_actuators arg from lateral controllers (#30595)

selfdrive/controls/controlsd.py

@@ -614,7 +614,7 @@ class Controls:
                                                                                        lat_plan.curvatures,
                                                                                        lat_plan.curvatureRates)
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                                             self.last_actuators, self.steer_limited, self.desired_curvature,
+                                                                             self.steer_limited, self.desired_curvature,
                                                                              self.desired_curvature_rate, self.sm['liveLocationKalman'])
       actuators.curvature = self.desired_curvature
     else:

selfdrive/controls/lib/latcontrol.py

@@ -17,7 +17,7 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pass
 
   def reset(self):

selfdrive/controls/lib/latcontrol_angle.py

@@ -11,7 +11,7 @@ class LatControlAngle(LatControl):
     super().__init__(CP, CI)
     self.sat_check_min_speed = 5.
 
-  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:

selfdrive/controls/lib/latcontrol_pid.py

@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
     super().reset()
     self.pid.reset()
 
-  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)

selfdrive/controls/lib/latcontrol_torque.py

@@ -36,7 +36,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
 
     if not active:

selfdrive/controls/lib/tests/test_latcontrol.py

@@ -30,13 +30,11 @@ class TestLatControl(unittest.TestCase):
     CS.vEgo = 30
     CS.steeringPressed = False
 
-    last_actuators = car.CarControl.Actuators.new_message()
-
     params = log.LiveParametersData.new_message()
 
     llk = gen_llk()
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, 0, llk)
 
     self.assertTrue(lac_log.saturated)