From 2c1b29b63a53a3cc4fc47494e121a8564d0feeb5 Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Mon, 7 Apr 2025 19:50:47 +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 3cf39a9b7..c143edef8 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -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