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remove deprecated mpc logging code

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This commit is contained in:
Adeeb Shihadeh
2021-08-26 13:33:43 -07:00
parent 6c25b44369
commit 9be7cf2cda
1 changed files with 0 additions and 12 deletions
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12
selfdrive/controls/lib/lateral_planner.py
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@@ -1,4 +1,3 @@
import os
import math
import numpy as np
from common.realtime import sec_since_boot, DT_MDL
@@ -14,8 +13,6 @@ from cereal import log
LaneChangeState = log.LateralPlan.LaneChangeState
LaneChangeDirection = log.LateralPlan.LaneChangeDirection
LOG_MPC = os.environ.get('LOG_MPC', False)
LANE_CHANGE_SPEED_MIN = 30 * CV.MPH_TO_MS
LANE_CHANGE_TIME_MAX = 10.
@@ -237,12 +234,3 @@ class LateralPlanner():
plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction
pm.send('lateralPlan', plan_send)
if LOG_MPC:
dat = messaging.new_message('liveMpc')
dat.liveMpc.x = list(self.mpc_solution.x)
dat.liveMpc.y = list(self.mpc_solution.y)
dat.liveMpc.psi = list(self.mpc_solution.psi)
dat.liveMpc.curvature = list(self.mpc_solution.curvature)
dat.liveMpc.cost = self.mpc_solution.cost
pm.send('liveMpc', dat)