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Update disturbance_controller.py

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infiniteCable
2025-04-20 21:08:25 +02:00
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parent 545a6595d6
commit 084f7d4bad
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/disturbance_controller.py
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@@ -61,7 +61,7 @@ class DisturbanceController:
reaction_delayed = self.reaction_hist[0]
disturbance = self.highpass_filter(actual_curvature, reaction)
error = desired_curvature + (reaction_delayed + disturbance)
error = desired_curvature - (reaction_delayed - disturbance)
output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
return float(output_curvature)