From 160a8cfd58588a5451bd6c06c3d78e22465cff87 Mon Sep 17 00:00:00 2001 From: martinl Date: Thu, 24 Feb 2022 03:26:05 +0200 Subject: [PATCH] Remove unused MPC_COST_LONG class (#23843) --- selfdrive/controls/lib/drive_helpers.py | 7 ------- 1 file changed, 7 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 14be3d5ed8fa99..01d7600345b653 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -37,13 +37,6 @@ class MPC_COST_LAT: STEER_RATE = 1.0 -class MPC_COST_LONG: - TTC = 5.0 - DISTANCE = 0.1 - ACCELERATION = 10.0 - JERK = 20.0 - - def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step)