wip

selfdrive/car/body/interface.py

@@ -7,21 +7,17 @@ from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
 
     ret.minSteerSpeed = -math.inf
     ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
-    ret.steerRatio = 0.5
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.
 
-    ret.mass = 9
-    ret.wheelbase = 0.406
     ret.wheelSpeedFactor = SPEED_FROM_RPM
-    ret.centerToFront = ret.wheelbase * 0.44
 
     ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True