Deprecate radarTimeStep

opendbc/car/car.capnp

@@ -508,7 +508,6 @@ struct CarParams {
   transmissionType @43 :TransmissionType;
   carFw @44 :List(CarFw);
 
-  radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   radarDelay @74 :Float32;
   fingerprintSource @49: FingerprintSource;
   networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
@@ -719,4 +718,5 @@ struct CarParams {
   maxSteeringAngleDegDEPRECATED @54 :Float32;
   longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
   stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
+  radarTimeStepDEPRECATED @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
 }

opendbc/car/ford/interface.py

@@ -2,7 +2,7 @@
 from opendbc.car import get_safety_config, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus
-from opendbc.car.ford.values import DBC, Ecu, FordFlags, RADAR
+from opendbc.car.ford.values import Ecu, FordFlags
 from opendbc.car.interfaces import CarInterfaceBase
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -15,9 +15,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
 
     ret.radarUnavailable = True
-    if DBC[candidate]['radar'] == RADAR.DELPHI_MRR:
-      ret.radarTimeStep = 0.03  # 33.3 Hz
-
     ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0

opendbc/car/gm/interface.py

@@ -138,7 +138,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
     ret.steerLimitTimer = 0.4
-    ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate == CAR.CHEVROLET_VOLT:

opendbc/car/gm/radar_interface.py

@@ -40,7 +40,6 @@ def __init__(self, CP):
 
     self.trigger_msg = LAST_RADAR_MSG
     self.updated_messages = set()
-    self.radar_ts = CP.radarTimeStep
 
   def update(self, can_strings):
     if self.rcp is None:

opendbc/car/honda/radar_interface.py

@@ -18,7 +18,6 @@ def __init__(self, CP):
     self.radar_fault = False
     self.radar_wrong_config = False
     self.radar_off_can = CP.radarUnavailable
-    self.radar_ts = CP.radarTimeStep
 
     # Nidec
     if self.radar_off_can:

opendbc/car/interfaces.py

@@ -259,12 +259,11 @@ def __init__(self, CP: structs.CarParams):
     self.CP = CP
     self.rcp = None
     self.pts: dict[int, structs.RadarData.RadarPoint] = {}
-    self.radar_ts = CP.radarTimeStep
     self.frame = 0
 
   def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:
     self.frame += 1
-    if (self.frame % int(100 * self.radar_ts)) == 0:
+    if (self.frame % 5) == 0:  # 20 Hz is very standard
       return structs.RadarData()
     return None
 

opendbc/car/toyota/radar_interface.py

@@ -23,7 +23,6 @@ class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
     self.track_id = 0
-    self.radar_ts = CP.radarTimeStep
 
     if CP.carFingerprint in TSS2_CAR:
       self.RADAR_A_MSGS = list(range(0x180, 0x190))