Remove fake yaw rate from carstate (#1426)

* remove fake yaw rate from carstate

* update ref

selfdrive/car/chrysler/interface.py

@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
-class CarInterface(CarInterfaceBase):
 
+class CarInterface(CarInterfaceBase):
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 3.0
@@ -67,7 +66,6 @@ class CarInterface(CarInterfaceBase):
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
     # speeds
-    ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     ret.buttonEvents = []

selfdrive/car/gm/interface.py

@@ -120,7 +120,6 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp)
 
     ret.canValid = self.cp.can_valid
-    ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     buttonEvents = []

selfdrive/car/mock/interface.py

@@ -73,13 +73,13 @@ class CarInterface(CarInterfaceBase):
     ret.aEgo = a
     ret.brakePressed = a < -0.5
 
-    self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
-    ret.yawRate = self.yaw_rate
     ret.standstill = self.speed < 0.01
     ret.wheelSpeeds.fl = self.speed
     ret.wheelSpeeds.fr = self.speed
     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.steeringAngle = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
 

selfdrive/car/nissan/interface.py

@@ -69,7 +69,6 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
 
     ret.canValid = self.cp.can_valid and self.cp_adas.can_valid and self.cp_cam.can_valid
-    ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
 
     buttonEvents = []
     be = car.CarState.ButtonEvent.new_message()

selfdrive/car/subaru/interface.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.config import Conversions as CV
 from selfdrive.car.subaru.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -58,7 +57,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-    ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
 
     buttonEvents = []
     be = car.CarState.ButtonEvent.new_message()

selfdrive/car/toyota/interface.py

@@ -7,8 +7,8 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.swaglog import cloudlog
 from selfdrive.car.interfaces import CarInterfaceBase
 
-class CarInterface(CarInterfaceBase):
 
+class CarInterface(CarInterfaceBase):
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 3.0
@@ -290,7 +290,6 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
-    ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
     ret.buttonEvents = []
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-53539b02abaa4d99c580448fcb8127d221c876af
+6ac6d827e466d5c8cfc7c0bafb2cd62acea00645