From 49ca3a2224f4a61db00d8f5898c8bd29167c9ae1 Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Sun, 6 Apr 2025 18:44:29 +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 7f97a57a2..11c2c0d63 100644
--- a/selfdrive/controls/lib/disturbance_controller.py
+++ b/selfdrive/controls/lib/disturbance_controller.py
@@ -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