remove deprecated mpc logging code

selfdrive/controls/lib/lateral_planner.py

@@ -1,4 +1,3 @@
-import os
 import math
 import numpy as np
 from common.realtime import sec_since_boot, DT_MDL
@@ -14,8 +13,6 @@ from cereal import log
 LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection
 
-LOG_MPC = os.environ.get('LOG_MPC', False)
-
 LANE_CHANGE_SPEED_MIN = 30 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
 
@@ -237,12 +234,3 @@ class LateralPlanner():
     plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction
 
     pm.send('lateralPlan', plan_send)
-
-    if LOG_MPC:
-      dat = messaging.new_message('liveMpc')
-      dat.liveMpc.x = list(self.mpc_solution.x)
-      dat.liveMpc.y = list(self.mpc_solution.y)
-      dat.liveMpc.psi = list(self.mpc_solution.psi)
-      dat.liveMpc.curvature = list(self.mpc_solution.curvature)
-      dat.liveMpc.cost = self.mpc_solution.cost
-      pm.send('liveMpc', dat)