car: remove lat lqr control

Edison-CBS · Feb 8, 2024 · fad4604 · fad4604
1 parent b634e55
commit fad4604
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Showing 20 changed files with 0 additions and 208 deletions.
diff --git a/common/params.cc b/common/params.cc
@@ -112,7 +112,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
-    {"LQR", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
     {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
     {"DongleId", PERSISTENT},
@@ -210,7 +209,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"VisionRadarToggle", PERSISTENT},
     {"WheeledBody", PERSISTENT},
     // edison params
-    {"LQR", PERSISTENT},
     {"ScreenOffTimer", PERSISTENT},
     {"CruiseSpeedRewrite", PERSISTENT},
     {"DriverCamera", PERSISTENT},

diff --git a/release/files_common b/release/files_common
@@ -139,7 +139,6 @@ selfdrive/controls/lib/desire_helper.py
 selfdrive/controls/lib/drive_helpers.py
 selfdrive/controls/lib/events.py
 selfdrive/controls/lib/latcontrol_angle.py
-selfdrive/controls/lib/latcontrol_lqr.py
 selfdrive/controls/lib/latcontrol_torque.py
 selfdrive/controls/lib/latcontrol_pid.py
 selfdrive/controls/lib/latcontrol.py

diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
@@ -87,9 +87,6 @@ def test_car_interfaces(self, car_name, data):
         self.assertTrue(len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP))
         self.assertTrue(len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP))
 
-      elif tune.which() == 'lqr':
-        self.assertTrue(len(tune.lqr.a))
-
       elif tune.which() == 'torque':
         self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
         self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)

diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
@@ -209,8 +209,6 @@ def test_car_params(self):
       tuning = self.CP.lateralTuning.which()
       if tuning == 'pid':
         self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
-      elif tuning == 'lqr':
-        self.assertTrue(len(self.CP.lateralTuning.lqr.a))
       elif tuning == 'torque':
         self.assertTrue(self.CP.lateralTuning.torque.kf > 0)
       else:

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
@@ -69,8 +69,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.steerRatio = 16.8
       ret.tireStiffnessFactor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG
-      if Params().get_bool("LQR"):
-        set_lat_tune(ret.lateralTuning, LatTunes.LQR_PV)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False

diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -21,7 +21,6 @@
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
-from openpilot.selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.events import Events, ET
@@ -149,8 +148,6 @@ def __init__(self, CI=None):
       self.LaC = LatControlAngle(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CI)
-    elif self.CP.lateralTuning.which() == 'lqr':
-      self.LaC = LatControlLQR(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
@@ -806,8 +803,6 @@ def publish_logs(self, CS, start_time, CC, lac_log):
       controlsState.lateralControlState.angleState = lac_log
     elif lat_tuning == 'pid':
       controlsState.lateralControlState.pidState = lac_log
-    elif lat_tuning == 'lqr':
-      controlsState.lateralControlState.lqrState = lac_log
     elif lat_tuning == 'torque':
       controlsState.lateralControlState.torqueState = lac_log
 

diff --git a/selfdrive/controls/lib/latcontrol_lqr.py b/selfdrive/controls/lib/latcontrol_lqr.py
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
@@ -35,7 +35,6 @@ def manager_init() -> None:
 
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
-    ("LQR", "0"),
     ("DisengageOnAccelerator", "0"),
     ("GsmMetered", "1"),
     ("HasAcceptedTerms", "0"),

diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
@@ -65,12 +65,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
       "../assets/offroad/icon_monitoring.png",
     },
-    {
-      "LQR",
-      tr("Use LQR on Lat Control for PA"),
-      tr("When enabled, using LQR on lat control for prius alpha."),
-      "../assets/offroad/icon_openpilot.png",
-    },
     // screen off timer
     {
       "ScreenOffTimer",

diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
@@ -1139,14 +1139,6 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>تمكين التحكم الطولي من openpilot (ألفا) للسماح بالوضع التجريبي.</translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
@@ -1033,14 +1033,6 @@ This may take up to a minute.</source>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
@@ -1123,14 +1123,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>Activer le contrôle longitudinal d&apos;openpilot (en alpha) pour autoriser le mode expérimental.</translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
@@ -1117,14 +1117,6 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
@@ -1119,14 +1119,6 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
         <translation>주행 시각화는 저속으로 주행 시 도로를 향한 광각 카메라로 자동 전환되어 일부 곡선 경로를 더 잘 보여줍니다. 실험 모드 로고는 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다.</translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
@@ -1033,14 +1033,6 @@ This may take up to a minute.</source>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
@@ -1119,14 +1119,6 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation>เปิดระบบควบคุมการเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
@@ -1117,14 +1117,6 @@ This may take up to a minute.</source>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -1119,14 +1119,6 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
         <translation>行驶画面将在低速时切换到道路朝向的广角摄像头，以更好地显示一些转弯。实验模式标志也将显示在右上角。当设置了导航目的地并且驾驶模型正在使用它作为输入时，地图上的驾驶路径将变为绿色。</translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>

diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -1119,14 +1119,6 @@ This may take up to a minute.</source>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
         <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖示也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
     </message>
-    <message>
-        <source>Use LQR on Lat Control for PA</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>When enabled, using LQR on lat control for prius alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Turn Off Display After 30 Seconds</source>
         <translation type="unfinished"></translation>