cleanup remnants of LQR and INDI tuning (#29860)

* not use 'indi' cleanup

* bump cereal

* rm more

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

cereal

@@ -1 +1 @@
-Subproject commit d469732b3b4c37aaa21fa37682a20f2aba9ab91c
+Subproject commit 7de568b65922b1b7a5cb9a9a391e3e03394500f7

selfdrive/car/tests/test_car_interfaces.py

@@ -87,9 +87,6 @@ class TestCarInterfaces(unittest.TestCase):
         self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
         self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
 
-      elif tune.which() == 'indi':
-        self.assertTrue(len(tune.indi.outerLoopGainV))
-
     cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
     now_nanos = 0

selfdrive/car/tests/test_models.py

@@ -187,8 +187,6 @@ class TestCarModelBase(unittest.TestCase):
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
       elif tuning == 'torque':
         self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
-      elif tuning == 'indi':
-        self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
       else:
         raise Exception("unknown tuning")
 

selfdrive/controls/controlsd.py

@@ -807,8 +807,6 @@ class Controls:
       controlsState.lateralControlState.pidState = lac_log
     elif lat_tuning == 'torque':
       controlsState.lateralControlState.torqueState = lac_log
-    elif lat_tuning == 'indi':
-      controlsState.lateralControlState.indiState = lac_log
 
     self.pm.send('controlsState', dat)
 

selfdrive/test/process_replay/test_processes.py

@@ -20,8 +20,8 @@ source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6 (+ QCOM GPS)
-  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
+  ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS
-  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
+  ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)