From 4c7ac1a362933af9d97697979162087c1ab2584b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Apr 2025 13:54:40 -0700 Subject: [PATCH] clean up --- selfdrive/controls/controlsd.py | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f4f6a6a970..5ecff1ccdf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -139,13 +139,9 @@ class Controls: def publish(self, CC, lac_log): CS = self.sm['carState'] - lp = self.sm['liveParameters'] - steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) - current_curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) - # Orientation and angle rates can be useful for carcontroller # Only calibrated (car) frame is relevant for the carcontroller - CC.currentCurvature = current_curvature + CC.currentCurvature = self.curvature if self.calibrated_pose is not None: CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist() CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()