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refactor: cleanup gravity constant handling (#35866)

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* refactor: move lateral methods from init to lateral.py (#2594)

* Extracting lateral methods to lateral.py

* cleaning

* more cleaning

* more cleaning

* Making sure it remains where it should

* Leave rate_limit where it belongs

* Moving things to `car/controls/`

* Moving rate limit to get a taste of the changes

* clean

* copy verbatim

* clean up

* more

* now we can format

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>

* No need to change order of import

* refactor: consolidate ACCELERATION_DUE_TO_GRAVITY import path

* bump opendbc

* update refs

* don't import from opendbc

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
DevTekVE
2025-08-02 20:20:18 +02:00
committed by GitHub
parent 313f36712c
commit 9dc98b36be
18 changed files with 22 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
common/conversions.py → common/constants.py
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@@ -1,6 +1,7 @@
import numpy as np
class Conversions:
# conversions
class CV:
# Speed
MPH_TO_KPH = 1.609344
KPH_TO_MPH = 1. / MPH_TO_KPH
@@ -17,3 +18,6 @@ class Conversions:
# Mass
LB_TO_KG = 0.453592
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2

2
opendbc_repo

Submodule opendbc_repo updated: a517b9973a...c6f01a6039

2
selfdrive/car/cruise.py
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@@ -2,7 +2,7 @@ import math
import numpy as np
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
# WARNING: this value was determined based on the model's training distribution,

2
selfdrive/car/tests/test_cruise_speed.py
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@@ -6,7 +6,7 @@ from parameterized import parameterized_class
from cereal import log
from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
ButtonEvent = car.CarState.ButtonEvent

2
selfdrive/controls/controlsd.py
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@@ -4,7 +4,7 @@ from numbers import Number
from cereal import car, log
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
from openpilot.common.swaglog import cloudlog

2
selfdrive/controls/lib/desire_helper.py
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@@ -1,5 +1,5 @@
from cereal import log
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.realtime import DT_MDL
LaneChangeState = log.LaneChangeState

2
selfdrive/controls/lib/drive_helpers.py
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@@ -1,5 +1,5 @@
import numpy as np
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.realtime import DT_CTRL, DT_MDL
MIN_SPEED = 1.0

2
selfdrive/controls/lib/latcontrol_torque.py
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@@ -4,7 +4,7 @@ import numpy as np
from cereal import log
from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
from opendbc.car.interfaces import LatControlInputs
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.common.pid import PIDController

2
selfdrive/controls/lib/ldw.py
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@@ -1,6 +1,6 @@
from cereal import log
from openpilot.common.realtime import DT_CTRL
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
CAMERA_OFFSET = 0.04

2
selfdrive/controls/lib/longitudinal_planner.py
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@@ -4,7 +4,7 @@ import numpy as np
import cereal.messaging as messaging
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.modeld.constants import ModelConstants

2
selfdrive/locationd/calibrationd.py
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@@ -14,7 +14,7 @@ from typing import NoReturn
from cereal import log, car
import cereal.messaging as messaging
from openpilot.system.hardware import HARDWARE
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot

2
selfdrive/locationd/models/car_kf.py
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@@ -5,7 +5,7 @@ from typing import Any
import numpy as np
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.locationd.models.constants import ObservationKind
from openpilot.common.swaglog import cloudlog

2
selfdrive/locationd/torqued.py
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@@ -4,7 +4,7 @@ from collections import deque, defaultdict
import cereal.messaging as messaging
from cereal import car, log
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, DT_MDL
from openpilot.common.filter_simple import FirstOrderFilter

2
selfdrive/selfdrived/events.py
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@@ -7,7 +7,7 @@ from collections.abc import Callable
from cereal import log, car
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.common.git import get_short_branch
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER

2
selfdrive/test/process_replay/process_replay.py
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@@ -31,7 +31,7 @@ from openpilot.tools.lib.logreader import LogIterable
from openpilot.tools.lib.framereader import FrameReader
# Numpy gives different results based on CPU features after version 19
NUMPY_TOLERANCE = 1e-7
NUMPY_TOLERANCE = 1e-2
PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")

2
selfdrive/test/process_replay/ref_commit
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@@ -1 +1 @@
7ecabd09f1f07c784806639114881fb6341be06c
8ff1b4c9c7a34589142a07579b0051acddfe7699

2
selfdrive/ui/onroad/hud_renderer.py
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@@ -1,6 +1,6 @@
import pyray as rl
from dataclasses import dataclass
from openpilot.common.conversions import Conversions as CV
from openpilot.common.constants import CV
from openpilot.selfdrive.ui.onroad.exp_button import ExpButton
from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
from openpilot.system.ui.lib.application import gui_app, FontWeight

2
tools/longitudinal_maneuvers/maneuversd.py
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@@ -3,7 +3,7 @@ import numpy as np
from dataclasses import dataclass
from cereal import messaging, car
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.common.constants import CV
from openpilot.common.realtime import DT_MDL
from openpilot.common.params import Params
from openpilot.common.swaglog import cloudlog