IQ.Pilot Release Commit @ 4521b0f

iqpilot/selfdrive/controls/controlsd.py

@@ -13,7 +13,7 @@ from iqpilot.common.swaglog import cloudlog
 
 from iqdbc.car.car_helpers import interfaces
 from iqdbc.car.vehicle_model import VehicleModel
-from iqpilot.common.steer_delay import resolve_steer_delay
+from iqpilot.common.steer_delay import lateral_action_delay
 from iqpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from iqpilot.selfdrive.controls.lib.curvature_lookahead import get_lookahead_curvature
 from iqpilot.selfdrive.controls.lib.latcontrol import LatControl
@@ -227,15 +227,7 @@ class Controls(IQControlsLayer):
 
     lat_accel_override = bool(CS.gasPressed) or bool(self.sm['iqState'].aol.active)
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll, lat_accel_override)
-    # ALC (angle control) only: honour IQLiveSteerDelay so that with live learning off, lagd's
-    # estimate never reaches the controls loop and CP.steerActuatorDelay is used instead. lagd
-    # cross-correlates against localizer lateral accel, so it reports whole-vehicle response
-    # (~0.36 s measured on VW MQB) where the lookahead wants actuator delay (~0.10 s).
-    # Torque cars keep their existing path.
-    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-      lat_delay = resolve_steer_delay(self.params, self.CP.steerActuatorDelay) + LAT_SMOOTH_SECONDS
-    else:
-      lat_delay = self.sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lat_delay = lateral_action_delay(self.params, self.CP, self.sm["lateralDelay"].lateralDelay) + LAT_SMOOTH_SECONDS
     lookahead_curvature = None
     if not self.sm.valid['lateralManeuverPlan']:
       lookahead_curvature = get_lookahead_curvature(model_v2, CS.vEgo, lat_delay)