Update disturbance_controller.py

2026-09-08 17:23:43 +08:00 · 2025-04-06 18:44:29 +02:00
parent d8928db914
commit 49ca3a2224
1 changed files with 1 additions and 1 deletions
@@ -45,7 +45,7 @@ class DisturbanceController:
    reaction = self.lowpass_filter(actual_curvature, alpha)
    disturbance = self.highpass_filter(actual_curvature, reaction)

-    error = -disturbance
+    error = disturbance
    output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
    
    return output_curvature