From 084f7d4bad0391aa183ef74d2ba8817a3fc239d9 Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Sun, 20 Apr 2025 21:08:25 +0200
Subject: [PATCH] Update disturbance_controller.py

---
 selfdrive/controls/lib/disturbance_controller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py
index 3a10635d1..3fdd26a0a 100644
--- a/selfdrive/controls/lib/disturbance_controller.py
+++ b/selfdrive/controls/lib/disturbance_controller.py
@@ -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)