From 0231c4ba851819963502d0068d574a055f865692 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 4 Oct 2022 17:23:41 -0700
Subject: [PATCH] cleanup stale longitudinal params (#25967)

---
 selfdrive/controls/controlsd.py | 5 +++++
 1 file changed, 5 insertions(+)

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()