Remove dynamic gas references

Author: sshane

README.md

@@ -15,7 +15,7 @@ Want to request a feature or create a bug report? [Open an issue here!](https://
 * **Lane Speed**
   * [**Lane Speed Alerts**](#Lane-Speed-alerts) - alerts for when an adjacent lane is faster
   * [**~~Dynamic camera offsetting~~ (removed temporarily)**](#Dynamic-camera-offset-based-on-oncoming-traffic) - moves you over if adjacent lane has oncoming traffic
-* [**~~Dynamic gas~~**](#dynamic-gas) - smoother gas control
+* [**~~Dynamic gas~~** (no longer needed)](#dynamic-gas) - smoother gas control
 * [**~~Adding derivative to PI for better control~~**](#pi---pid-controller-for-long-and-lat) - lat: smoother control in turns; long: fix for comma pedal overshoot
 
 ### General Features

selfdrive/controls/lib/longcontrol.py

@@ -4,7 +4,6 @@
 from selfdrive.controls.lib.pid import PIDController
 from selfdrive.controls.lib.drive_helpers import CONTROL_N
 from selfdrive.modeld.constants import T_IDXS
-from selfdrive.controls.lib.dynamic_gas import DynamicGas
 from common.op_params import opParams
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -60,9 +59,6 @@ def __init__(self, CP):
     self.v_pid = 0.0
     self.last_output_accel = 0.0
 
-    # self.op_params = opParams()
-    # self.dynamic_gas = DynamicGas(CP, candidate)
-
   def reset(self, v_pid):
     """Reset PID controller and change setpoint"""
     self.pid.reset()
@@ -97,9 +93,6 @@ def update(self, active, CS, CP, long_plan, accel_limits, extras):
       accel_limits[1] = 1.6
     self.pid.pos_limit = accel_limits[1]
 
-    # if self.op_params.get('dynamic_gas'):
-    #   gas_max = self.dynamic_gas.update(CS, extras)
-
     # Update state machine
     output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo,