math

selfdrive/selfdrived/selfdrived.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 import os
+import math
 import time
 import threading
-import numpy as np
 
 import cereal.messaging as messaging
 
@@ -56,7 +56,7 @@ def check_excessive_actuation(sm: messaging.SubMaster, CS: car.CarState, calibra
   # lateral
   yaw_rate = calibrated_pose.angular_velocity.yaw
   roll = device_pose.orientation.roll  # TODO: calibrated_pose?
-  roll_compensated_lateral_accel = float((CS.vEgo * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY))
+  roll_compensated_lateral_accel = (CS.vEgo * yaw_rate) - (math.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
 
   # livePose acceleration can be noisy due to bad mounting or aliased livePose measurements
   accel_valid = abs(CS.aEgo - accel_calibrated) < 2