Reapply "remove model turn speed.."

This reverts commit 544ac16811.

cereal/log.capnp

@@ -1179,7 +1179,6 @@ struct ModelDataV2 {
     desire @14 :Desire;
     laneChangeProb @15 :Float32;
     desireLog @16 : Text;
-    modelTurnSpeed @17 :Float32;
 
 
     # deprecated

common/params_keys.h

@@ -184,7 +184,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"AutoNaviCountDownMode", PERSISTENT},
     {"TurnSpeedControlMode", PERSISTENT},
     {"MapTurnSpeedFactor", PERSISTENT},
-    {"ModelTurnSpeedFactor", PERSISTENT},
     {"StoppingAccel", PERSISTENT},
     {"AutoSpeedUptoRoadSpeedLimit", PERSISTENT},
     {"AutoRoadSpeedAdjust", PERSISTENT},

selfdrive/carrot/carrot_serv.py

@@ -814,11 +814,6 @@ class CarrotServ:
       speed_n_sources.append((route_speed, "route"))
       #speed_n_sources.append((self.calculate_current_speed(dist, speed * self.mapTurnSpeedFactor, 0, 1.2), "route"))
 
-
-    model_turn_speed = max(sm['modelV2'].meta.modelTurnSpeed, self.autoCurveSpeedLowerLimit)
-    if model_turn_speed < 200 and abs(vturn_speed) < 120:
-      speed_n_sources.append((model_turn_speed, "model"))
-
     desired_speed, source = min(speed_n_sources, key=lambda x: x[0])
 
     if CS is not None:

selfdrive/carrot_settings.json

@@ -1744,19 +1744,6 @@
       "default": 100,
       "unit": 10
     },
-    {
-      "group": "감속제어",
-      "name": "ModelTurnSpeedFactor",
-      "title": "모델턴속도반영시간(0)x0.1sec",
-      "descr": "클수록 모델의 미래속도가 반영됩니다.",
-      "egroup": "SPEED",
-      "etitle": "ModelTurnSpeed time(0)x0.1sec",
-      "edescr": "future model speed",
-      "min": 0,
-      "max": 80,
-      "default": 0,
-      "unit": 10
-    },
     {
       "group": "감속제어",
       "name": "AutoNaviSpeedSafetyFactor",

selfdrive/controls/lib/desire_helper.py

@@ -152,9 +152,6 @@ class DesireHelper:
     self.auto_lane_change_enable = False
     self.next_lane_change = False
 
-    self.modelTurnSpeedFactor = 0.0
-    self.model_turn_speed = 0.0
-
   def check_lane_state(self, modeldata):
     lane_width_left, self.distance_to_road_edge_left, self.distance_to_road_edge_left_far, lane_prob_left = calculate_lane_width(modeldata.laneLines[0], modeldata.laneLineProbs[0],
                                                                                                  modeldata.laneLines[1], modeldata.roadEdges[0])
@@ -194,13 +191,6 @@ class DesireHelper:
     else:
       self.turn_disable_count = max(0, self.turn_disable_count - 1)
     #print(f"desire_state = {desire_state}, turn_desire_state = {self.turn_desire_state}, disable_count = {self.desire_disable_count}")
-
-  def make_model_turn_speed(self, modeldata):
-    if self.modelTurnSpeedFactor > 0:
-      model_turn_speed = np.interp(self.modelTurnSpeedFactor, modeldata.velocity.t, modeldata.velocity.x) * CV.MS_TO_KPH * 1.2
-      self.model_turn_speed = self.model_turn_speed * 0.9 + model_turn_speed * 0.1
-    else:
-      self.model_turn_speed = 200.0
     
   def update(self, carstate, modeldata, lateral_active, lane_change_prob, carrotMan, radarState):
 
@@ -208,12 +198,9 @@ class DesireHelper:
       self.laneChangeNeedTorque = self.params.get_int("LaneChangeNeedTorque")
       self.laneChangeBsd = self.params.get_int("LaneChangeBsd")
       self.laneChangeDelay = self.params.get_float("LaneChangeDelay") * 0.1
-      self.modelTurnSpeedFactor= self.params.get_float("ModelTurnSpeedFactor") * 0.1
 
     self.frame += 1
 
-    self.make_model_turn_speed(modeldata)
-
     self.carrot_lane_change_count = max(0, self.carrot_lane_change_count - 1)
     self.lane_change_delay = max(0, self.lane_change_delay - DT_MDL)
 

selfdrive/modeld/modeld.py

@@ -425,7 +425,6 @@ def main(demo=False):
       modelv2_send.modelV2.meta.distanceToRoadEdgeRight = float(DH.distance_to_road_edge_right)
       modelv2_send.modelV2.meta.desire = DH.desire
       modelv2_send.modelV2.meta.laneChangeProb = DH.lane_change_ll_prob
-      modelv2_send.modelV2.meta.modelTurnSpeed = float(DH.model_turn_speed)
 
       fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
       pm.send('modelV2', modelv2_send)

selfdrive/ui/qt/offroad/settings.cc

@@ -857,7 +857,6 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
   speedToggles->addItem(new CValueControl("AutoNaviCountDownMode", tr("NaviCountDown mode(2)"), tr("0: off, 1:tbt+camera, 2:tbt+camera+bump"), 0, 2, 1));
   speedToggles->addItem(new CValueControl("TurnSpeedControlMode", tr("Turn Speed control mode(1)"), tr("0: off, 1:vision, 2:vision+route, 3: route"), 0, 3, 1));
   speedToggles->addItem(new CValueControl("MapTurnSpeedFactor", tr("Map TurnSpeed Factor(100)"), "", 50, 300, 5));
-  speedToggles->addItem(new CValueControl("ModelTurnSpeedFactor", tr("Model TurnSpeed Factor(0)"), "", 0, 80, 10));
   speedToggles->addItem(new CValueControl("AutoTurnControl", tr("ATC: Auto turn control(0)"), tr("0:None, 1: lane change, 2: lane change + speed, 3: speed"), 0, 3, 1));
   speedToggles->addItem(new CValueControl("AutoTurnControlSpeedTurn", tr("ATC: Turn Speed (20)"), tr("0:None, turn speed"), 0, 100, 5));
   speedToggles->addItem(new CValueControl("AutoTurnControlTurnEnd", tr("ATC: Turn CtrlDistTime (6)"), tr("dist=speed*time"), 0, 30, 1));

system/manager/manager.py

@@ -87,7 +87,6 @@ def get_default_params():
     ("AutoNaviCountDownMode", "2"),
     ("TurnSpeedControlMode", "1"),
     ("MapTurnSpeedFactor", "90"),
-    ("ModelTurnSpeedFactor", "0"),
     ("StoppingAccel", "0"),
     ("StopDistanceCarrot", "550"),
     ("JLeadFactor3", "0"),