IQ.Pilot Release Commit @ 4521b0f

iqpilot/selfdrive/locationd/torqued.py

@@ -10,7 +10,6 @@ from iqpilot.common.realtime import DT_MDL
 from iqpilot.common.filter_simple import FirstOrderFilter
 from iqpilot.common.swaglog import cloudlog
 from iqpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, PoseCalibrator, Pose
-from iqpilot.common.steer_delay import resolve_steer_delay
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -97,7 +96,6 @@ class TorqueEstimator(ParameterEstimator):
 
     # try to restore cached params
     params = Params()
-    self.params = params
     params_cache = params.get("CarParamsPrevRoute")
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
@@ -179,7 +177,7 @@ class TorqueEstimator(ParameterEstimator):
     elif which == "extrinsicsCalibration":
       self.calibrator.feed_live_calib(msg)
     elif which == "lateralDelay":
-      self.lag = resolve_steer_delay(self.params, msg.lateralDelay)
+      self.lag = msg.lateralDelay
     # calculate lateral accel from past steering torque
     elif which == "deviceMotion":
       if len(self.raw_points['steer_torque']) == self.hist_len: