mock: remove steering angle (#26614)

* fix yaw rate in mock interface

* clean that up

* revert

* clean up

selfdrive/car/mock/interface.py

@@ -1,31 +1,22 @@
 #!/usr/bin/env python3
-import math
 from cereal import car
-from common.conversions import Conversions as CV
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
-# mocked car interface to work with chffrplus
-TS = 0.01  # 100Hz
-YAW_FR = 0.2  # ~0.8s time constant on yaw rate filter
-# low pass gain
-LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS)
-
 
+# mocked car interface to work with chffrplus
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
     cloudlog.debug("Using Mock Car Interface")
 
-    self.sm = messaging.SubMaster(['gyroscope', 'gpsLocation', 'gpsLocationExternal'])
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
     self.speed = 0.
     self.prev_speed = 0.
-    self.yaw_rate = 0.
-    self.yaw_rate_meas = 0.
 
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
@@ -45,11 +36,6 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
     self.sm.update(0)
-
-    # get basic data from phone and gps since CAN isn't connected
-    if self.sm.updated['gyroscope']:
-      self.yaw_rate_meas = -self.sm['gyroscope'].gyroUncalibrated.v[0]
-
     gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
     if self.sm.updated[gps_sock]:
       self.prev_speed = self.speed
@@ -61,10 +47,9 @@ class CarInterface(CarInterfaceBase):
     # speeds
     ret.vEgo = self.speed
     ret.vEgoRaw = self.speed
-    a = self.speed - self.prev_speed
 
-    ret.aEgo = a
+    ret.aEgo = self.speed - self.prev_speed
-    ret.brakePressed = a < -0.5
+    ret.brakePressed = ret.aEgo < -0.5
 
     ret.standstill = self.speed < 0.01
     ret.wheelSpeeds.fl = self.speed
@@ -72,10 +57,6 @@ class CarInterface(CarInterfaceBase):
     ret.wheelSpeeds.rl = self.speed
     ret.wheelSpeeds.rr = self.speed
 
-    self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
-    curvature = self.yaw_rate / max(self.speed, 1.)
-    ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
-
     return ret
 
   def apply(self, c):