From 9218273060ade6431c4fc4c310b27e7e210158b9 Mon Sep 17 00:00:00 2001 From: ClockeNessMnstr Date: Fri, 13 May 2022 17:15:29 -0400 Subject: [PATCH] drop CI from latcontrol super --- selfdrive/controls/lib/latcontrol.py | 2 +- selfdrive/controls/lib/latcontrol_indi.py | 2 +- selfdrive/controls/lib/latcontrol_pid.py | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 785c8faa8cb378..348470cecaa7d5 100644 --- 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 index b5041eb172fc2c..b61af0e8b8dfe9 100644 --- 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 index 5dd1b20ae074f7..b2ce199359293d 100644 --- 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 index 9a1ac2f9ea1a67..9a85aef1e3c4a7 100644 --- 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()