From b24e901b887f3b52c1ae9f59876974f73dc652a3 Mon Sep 17 00:00:00 2001
From: Gregor Kikelj <96022003+GregorKikelj@users.noreply.github.com>
Date: Mon, 14 Mar 2022 21:32:16 +0100
Subject: [PATCH] Improve style in drive_helpers

---
 selfdrive/controls/lib/drive_helpers.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 14be3d5ed8fa99..fda27c6779ac5b 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -61,7 +61,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
   long_press = False
   button_type = None
 
-  v_cruise_delta = 1 if metric else 1.6
+  v_cruise_delta = 1. if metric else CV.MPH_TO_KPH
 
   for b in buttonEvents:
     if b.type.raw in button_timers and not b.pressed:
@@ -98,9 +98,9 @@ def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
 
 def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
   if len(psis) != CONTROL_N:
-    psis = [0.0 for i in range(CONTROL_N)]
-    curvatures = [0.0 for i in range(CONTROL_N)]
-    curvature_rates = [0.0 for i in range(CONTROL_N)]
+    psis = [0.0]*CONTROL_N
+    curvatures = [0.0]*CONTROL_N
+    curvature_rates = [0.0]*CONTROL_N
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   delay = CP.steerActuatorDelay + .2