From 298b2f677c8a20866bc269f9b23395e7cbcc6f36 Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Sun, 6 Apr 2025 18:11:50 +0200 Subject: [PATCH] Update controlsd.py --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 21e07f938..241d89610 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -144,7 +144,7 @@ class Controls: # Reset desired curvature to current to avoid violating the limits on engage new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature if self.enable_disturbance_correction: - new_desired_curvature = self.disturbance_controller.compensate(new_desired_curvature, self.curvature_3dof) + new_desired_curvature = self.disturbance_controller.compensate(CS, new_desired_curvature, self.curvature_3dof) self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll) actuators.curvature = self.desired_curvature