fixes

selfdrive/car/body/carcontroller.py

@@ -43,8 +43,8 @@ class CarController():
     self.i_speed = np.clip(self.i_speed, -0.1, 0.1)
     self.set_point = kp_speed * (self.speed_desired - self.speed_measured) + self.i_speed
 
-    angle_err = (-c.CC.orientationNED[1]) - self.set_point
-    d_new = -c.CC.angularVelocity[1]
+    angle_err = (-c.orientationNED[1]) - self.set_point
+    d_new = -c.angularVelocity[1]
     alpha_d = 1.0
     self.d = (1. - alpha_d) * self.d + alpha * d_new
     self.d =  np.clip(self.d, -1., 1.)

selfdrive/car/body/carstate.py

@@ -5,9 +5,6 @@ from selfdrive.car.body.values import DBC
 
 
 class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-
   def update(self, cp):
     ret = car.CarState.new_message()
 
@@ -17,7 +14,7 @@ class CarState(CarStateBase):
     ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
 
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = abs(ret.vEgo) < 100
+    ret.standstill = abs(ret.vEgo) < 1
 
     ret.cruiseState.enabled = True
     ret.cruiseState.available = True

selfdrive/car/body/interface.py

@@ -4,9 +4,6 @@ from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, gen_empty_fin
 from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):