cleanup stale longitudinal params (#25967)

old-commit-hash: 0231c4ba85
3 years ago · 6bf9717b04
parent a03192a8d7
commit 6bf9717b04
1 changed files with 5 additions and 0 deletions
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -143,6 +143,11 @@ class Controls:
    put_nonblocking("CarParamsCache", cp_bytes)
    put_nonblocking("CarParamsPersistent", cp_bytes)

+    # cleanup old params
+    if not self.CP.experimentalLongitudinalAvailable:
+      params.remove("EndToEndLong")
+      params.remove("ExperimentalLongitudinalEnabled")
+
    self.CC = car.CarControl.new_message()
    self.CS_prev = car.CarState.new_message()
    self.AM = AlertManager()