Merge branch 'commaai:master' into master

dragonpilot-community · Apr 10, 2024 · bdb09f7 · bdb09f7
2 parents c175274 + db1359e
commit bdb09f7
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Showing 3 changed files with 4 additions and 6 deletions.
diff --git a/car.capnp b/car.capnp
@@ -433,7 +433,6 @@ struct CarParams {
 
   notCar @66 :Bool;  # flag for non-car robotics platforms
 
-  enableGasInterceptor @2 :Bool;
   pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
   enableDsu @5 :Bool;        # driving support unit
   enableBsm @56 :Bool;       # blind spot monitoring
@@ -678,6 +677,7 @@ struct CarParams {
     gateway @1;    # Integration at vehicle's CAN gateway
   }
 
+  enableGasInterceptorDEPRECATED @2 :Bool;
   enableCameraDEPRECATED @4 :Bool;
   enableApgsDEPRECATED @6 :Bool;
   steerRateCostDEPRECATED @33 :Float32;

diff --git a/log.capnp b/log.capnp
@@ -905,8 +905,8 @@ struct ModelDataV2 {
   # Model perceived motion
   temporalPose @21 :Pose;
 
-  navEnabled @22 :Bool;
-  locationMonoTime @24 :UInt64;
+  navEnabledDEPRECATED @22 :Bool;
+  locationMonoTimeDEPRECATED @24 :UInt64;
 
   # e2e lateral planner
   lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
@@ -2276,7 +2276,6 @@ struct Event {
     liveLocationKalman @72 :LiveLocationKalman;
     modelV2 @75 :ModelDataV2;
     driverStateV2 @92 :DriverStateV2;
-    navModel @104 :NavModelData;
 
     # camera stuff, each camera state has a matching encode idx
     roadCameraState @2 :FrameData;
@@ -2380,5 +2379,6 @@ struct Event {
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
+    navModelDEPRECATED @104 :NavModelData;
   }
 }
diff --git a/services.py b/services.py
@@ -75,8 +75,6 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
-  "navModel": (True, 2., 4.),
-  "mapRenderState": (True, 2., 1.),
   "uiPlan": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),