From 2b95a9fec22889e45aa19a067e3bdbab1f5b9d7d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 21 Sep 2020 10:31:01 +0200 Subject: [PATCH] Revert "tici: take into account frame timestamp (#2199)" This reverts commit 58dc2982af6593d7a31464342d80190fa365287e. old-commit-hash: 65e5032a97cba8c294e0763eeaaa430d4803a4d6 --- selfdrive/controls/lib/pathplanner.py | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py index 4a28a25321..375dea4735 100644 --- a/selfdrive/controls/lib/pathplanner.py +++ b/selfdrive/controls/lib/pathplanner.py @@ -7,7 +7,6 @@ from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT from selfdrive.controls.lib.lane_planner import LanePlanner from selfdrive.config import Conversions as CV from common.params import Params -from common.hardware import TICI import cereal.messaging as messaging from cereal import log @@ -165,14 +164,8 @@ class PathPlanner(): self.LP.r_prob *= self.lane_change_ll_prob self.LP.update_d_poly(v_ego) - if TICI: - frame_delay = min((sm.logMonoTime['model'] - sm['model'].timestampEof) / 1e9, 0.250) - delay = frame_delay + CP.steerActuatorDelay - else: - delay = CP.steerActuatorDelay - - # account for actuation + frame delay - self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, delay) + # account for actuation delay + self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay) v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed self.libmpc.run_mpc(self.cur_state, self.mpc_solution,