removed extra variable

commaai · Jan 7, 2019 · 7652a56 · 7652a56
1 parent 40713b5
commit 7652a56
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
@@ -79,7 +79,7 @@ def __init__(self, CP):
     self.steerpub = self.context.socket(zmq.PUB)
     self.steerpub.bind("tcp://*:8594")
     self.influxString = 'steerData3,testName=none,active=%s,ff_type=%s ff_type_a=%s,ff_type_r=%s,steer_status=%s,' \
-                    'steering_control_active=%s,steer_stock_torque=%s,steer_stock_torque_request=%s,mpc_age2=%s,mpc_age=%s,can_rate=%s,lchange=%s,pchange=%s,rchange=%s,d0=%s,d1=%s,d2=%s,' \
+                    'steering_control_active=%s,steer_stock_torque=%s,steer_stock_torque_request=%s,mpc_age2=%s,mpc_age=%s,lchange=%s,pchange=%s,rchange=%s,d0=%s,d1=%s,d2=%s,' \
                     'd3=%s,d4=%s,d5=%s,d6=%s,d7=%s,d8=%s,d9=%s,d10=%s,d11=%s,d12=%s,d13=%s,d14=%s,d15=%s,d16=%s,d17=%s,d18=%s,d19=%s,d20=%s,' \
                     'accel_limit=%s,restricted_steer_rate=%s,driver_torque=%s,angle_rate_desired=%s,future_angle_steers=%s,' \
                     'angle_rate=%s,angle_steers=%s,angle_steers_des=%s,self.angle_steers_des_mpc=%s,projected_angle_steers_des=%s,steerRatio=%s,l_prob=%s,' \
@@ -252,9 +252,9 @@ def update(self, active, v_ego, angle_steers, angle_rate, steer_override, d_poly
       capture_all = True
       if self.mpc_updated or capture_all:
         self.frames += 1
-        self.steerdata += ("%d,%s,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d|" % (1, \
+        self.steerdata += ("%d,%s,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d|" % (1, \
         ff_type, 1 if ff_type == "a" else 0, 1 if ff_type == "r" else 0, steer_status, steering_control_active, steer_stock_torque, steer_stock_torque_request, \
-        cur_time - float(self.last_mpc_ts / 1000000000.0), cur_time - self.mpc_times[0], CAN_RATE, self.left_change, self.path_change, self.right_change, self.mpc_solution[0].delta[0], self.mpc_solution[0].delta[1], self.mpc_solution[0].delta[2], self.mpc_solution[0].delta[3], self.mpc_solution[0].delta[4], \
+        cur_time - float(self.last_mpc_ts / 1000000000.0), cur_time - self.mpc_times[0], self.left_change, self.path_change, self.right_change, self.mpc_solution[0].delta[0], self.mpc_solution[0].delta[1], self.mpc_solution[0].delta[2], self.mpc_solution[0].delta[3], self.mpc_solution[0].delta[4], \
         self.mpc_solution[0].delta[5], self.mpc_solution[0].delta[6], self.mpc_solution[0].delta[7], self.mpc_solution[0].delta[8], self.mpc_solution[0].delta[9], \
         self.mpc_solution[0].delta[10], self.mpc_solution[0].delta[11], self.mpc_solution[0].delta[12], self.mpc_solution[0].delta[13], self.mpc_solution[0].delta[14], \
         self.mpc_solution[0].delta[15], self.mpc_solution[0].delta[16], self.mpc_solution[0].delta[17], self.mpc_solution[0].delta[18], self.mpc_solution[0].delta[19], self.mpc_solution[0].delta[20], \