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long_mpc: remove unused solver state and timings #38335

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Merged
adeebshihadeh merged 1 commit into from
Jul 14, 2026
+0 −8
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long_mpc: remove unused solver state and timings #38335

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8 changes: 0 additions & 8 deletions openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -240,14 +240,10 @@ def reset(self):
self.solver.set(i, 'x', np.zeros(X_DIM))

self.last_cloudlog_t = 0
self.status = False
self.crash_cnt = 0.0
self.solution_status = 0
# timers
self.solve_time = 0.0
self.time_qp_solution = 0.0
self.time_linearization = 0.0
self.time_integrator = 0.0
self.x0 = np.zeros(X_DIM)
self.set_weights()

Expand Down Expand Up @@ -316,7 +312,6 @@ def process_lead(self, lead):
def update(self, radarstate, v_cruise, personality=log.LongitudinalPersonality.standard):
t_follow = get_T_FOLLOW(personality)
v_ego = self.x0[1]
self.status = radarstate.leadOne.status or radarstate.leadTwo.status

lead_xv_0 = self.process_lead(radarstate.leadOne)
lead_xv_1 = self.process_lead(radarstate.leadTwo)
Expand Down Expand Up @@ -365,9 +360,6 @@ def run(self):

self.solution_status = self.solver.solve()
self.solve_time = float(self.solver.get_stats('time_tot')[0])
self.time_qp_solution = float(self.solver.get_stats('time_qp')[0])
self.time_linearization = float(self.solver.get_stats('time_lin')[0])
self.time_integrator = float(self.solver.get_stats('time_sim')[0])

for i in range(N+1):
self.x_sol[i] = self.solver.get(i, 'x')
Expand Down
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