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Cleanup "longitudinalPlan" fields (#32845)

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old-commit-hash: 046ed7e9f8c69423c25e15f97bfd5783734dc551
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James
2024-06-26 14:51:27 -07:00
committed by GitHub
parent b07f5254ef
commit 7606bf60ad
1 changed files with 0 additions and 4 deletions
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selfdrive/controls/lib/longitudinal_planner.py
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@@ -159,15 +159,11 @@ class LongitudinalPlanner:
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
longitudinalPlan = plan_send.longitudinalPlan
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
longitudinalPlan.solverExecutionTime = self.mpc.solve_time
longitudinalPlan.allowBrake = True
longitudinalPlan.allowThrottle = True
longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
longitudinalPlan.accels = self.a_desired_trajectory.tolist()
longitudinalPlan.jerks = self.j_desired_trajectory.tolist()