drop CI from latcontrol super

rjsmith1999 · May 13, 2022 · 9218273 · 9218273
1 parent cb09b64
commit 9218273
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
@@ -7,7 +7,7 @@
 
 
 class LatControl(ABC):
-  def __init__(self, CP, CI):
+  def __init__(self, CP):
     self.sat_count_rate = 1.0 * DT_CTRL
     self.sat_limit = CP.steerLimitTimer
     self.sat_count = 0.

diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
@@ -10,7 +10,7 @@
 
 class LatControlINDI(LatControl):
   def __init__(self, CP, CI):
-    super().__init__(CP, CI)
+    super().__init__(CP)
     self.angle_steers_des = 0.
 
     A = np.array([[1.0, DT_CTRL, 0.0],

diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
@@ -7,7 +7,7 @@
 
 class LatControlPID(LatControl):
   def __init__(self, CP, CI):
-    super().__init__(CP, CI)
+    super().__init__(CP)
     self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
                              (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
@@ -24,7 +24,7 @@
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
-    super().__init__(CP, CI)
+    super().__init__(CP)
     self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki,
                              k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()