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Update controlsd.py

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infiniteCable
2025-04-07 19:50:47 +02:00
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parent 070bf43ad2
commit 2c1b29b63a
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/controlsd.py
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@@ -140,7 +140,7 @@ class Controls:
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
if self.enable_disturbance_correction:
disturbance_correction = self.disturbance_controller.get_correction(CS, self.VM, lp, self.calibrated_pose, new_desired_curvature)
new_desired_curvature -= disturbance_correction
new_desired_curvature += disturbance_correction
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
actuators.curvature = self.desired_curvature