diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 303e5f8df8..9cf079a2b3 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -143,6 +143,11 @@ class Controls: put_nonblocking("CarParamsCache", cp_bytes) put_nonblocking("CarParamsPersistent", cp_bytes) + # cleanup old params + if not self.CP.experimentalLongitudinalAvailable: + params.remove("EndToEndLong") + params.remove("ExperimentalLongitudinalEnabled") + self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() self.AM = AlertManager()