Cleanup "longitudinalPlan" fields (#32845)

1 year ago · 046ed7e9f8
parent fccba867a9
commit 046ed7e9f8
1 changed files with 0 additions and 4 deletions
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@ -159,15 +159,11 @@ class LongitudinalPlanner:

    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])

-
    longitudinalPlan = plan_send.longitudinalPlan
    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
    longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
    longitudinalPlan.solverExecutionTime = self.mpc.solve_time

-    longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = True
-
    longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
    longitudinalPlan.accels = self.a_desired_trajectory.tolist()
    longitudinalPlan.jerks = self.j_desired_trajectory.tolist()