From 3f8ad6b7ca3bb85b6b7c214be86551992288fd94 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Sep 2022 23:31:54 -0700 Subject: [PATCH] clean up test --- selfdrive/car/hyundai/carstate.py | 7 ------- 1 file changed, 7 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 446b2bdde9..d049a1f92d 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -71,15 +71,8 @@ class CarState(CarStateBase): else: self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 0.5 # seems to be best at 0.111111 m/s self.cluster_min_speed = CV.KPH_TO_MS - # TODO: verify this is always metric ret.vEgoCluster = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * CV.KPH_TO_MS - # i've seen vEgoRaw get to 1-2 before cluster updates, so pick 6 mph to be safe - if ret.vEgoRaw > 3 and len(cp.vl_all["CLU15"]["CF_Clu_VehicleSpeed"]): - assert abs(cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * CV.KPH_TO_MS - ret.vEgoRaw) < 2.5 - - assert cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] > 0, (ret.vEgoRaw, cp.vl["CLU15"]["CF_Clu_VehicleSpeed2"], cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] * speed_conv) - ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]