general refactoring

remote_control/mpc_controller.py

@@ -3,6 +3,7 @@ import time
 
 from casadi_opt import OpenLoopSolver
 
+
 class MPCController:
     def __init__(self, estimator):
         self.t = time.time()
@@ -77,7 +78,6 @@ class MPCController:
                     us2 = res[1] * self.control_scaling
                     # print("u = {}", (us1, us2))
 
-                    tmpc_end = time.time()
                     # print("---------------- mpc solution took {} seconds".format(tmpc_end - tmpc_start))
                     dt_mpc = time.time() - self.t
                     if dt_mpc < self.dt:  # wait until next control can be applied