fix put_nonblocking reference

selfdrive/locationd/helpers.py

@@ -2,7 +2,6 @@ import numpy as np
 from typing import List, Optional, Tuple, Any
 
 from cereal import log
-from openpilot.common.params import put_nonblocking
 
 
 class NPQueue:
@@ -63,8 +62,3 @@ class ParameterEstimator:
 
   def get_msg(self, valid: bool, with_points: bool) -> log.Event:
     raise NotImplementedError
-
-
-def cache_points(param_name, estimator, valid):
-  msg = estimator.get_msg(valid=valid, with_points=True)
-  put_nonblocking(param_name, msg.to_bytes())

selfdrive/locationd/torqued.py

@@ -9,7 +9,7 @@ from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, cache_points
+from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -238,8 +238,8 @@ def main():
 
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
-      cache_points("LiveTorqueParameters", estimator, sm.all_checks())
+      msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
-
+      params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
 if __name__ == "__main__":
   main()