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Ford: remove unused function (#1393) 

we can just round this now
This commit is contained in:
Shane Smiskol 2023-05-03 04:35:00 +00:00 committed by GitHub
parent aa30b15de5
commit 3a3e117d01
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1 changed files with 2 additions and 7 deletions
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9
tests/safety/test_ford.py
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@ -50,11 +50,6 @@ def checksum(msg):
return addr, t, ret, bus
def round_curvature_can(curvature):
# rounds curvature as if it was sent on CAN
return round(curvature * 5, 4) / 5
class Buttons:
CANCEL = 0
RESUME = 1
@ -200,7 +195,7 @@ class TestFordSafety(common.PandaSafetyTest):
def test_rx_hook_speed_mismatch(self):
# Ford relies on speed for driver curvature limiting, so it checks two sources
for speed in np.arange(0, 40, 1):
for speed in np.arange(0, 40, 0.5):
for speed_delta in np.arange(-5, 5, 0.1):
speed_2 = round(max(speed + speed_delta, 0), 1)
# Set controls allowed in between rx since first message can reset it
@ -245,7 +240,7 @@ class TestFordSafety(common.PandaSafetyTest):
limit_command = speed > self.CURVATURE_ERROR_MIN_SPEED
for new_curvature in np.linspace(-self.MAX_CURVATURE, self.MAX_CURVATURE, 41):
too_far_away = round_curvature_can(abs(new_curvature - initial_curvature)) > self.MAX_CURVATURE_ERROR
too_far_away = round(abs(new_curvature - initial_curvature), 5) > self.MAX_CURVATURE_ERROR
if steer_control_enabled:
should_tx = not limit_command or not too_far_away