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Update disturbance_controller.py use import

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infiniteCable
2025-04-07 19:27:15 +02:00
committed by GitHub
parent 03c5f895a0
commit 6150cac462
1 changed files with 2 additions and 1 deletions
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selfdrive/controls/lib/disturbance_controller.py
+2 -1
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@@ -3,6 +3,7 @@ import math
from openpilot.common.pid import PIDController
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE
ALPHA_MIN = 0.004
ALPHA_MAX = 0.4
@@ -12,7 +13,7 @@ class DisturbanceController:
self.lowpass_filtered = 0.0
self.alpha_prev = ALPHA_MIN
self.desired_curvature_prev = 0.0
self.pid = PIDController(1, 0, k_f=0, pos_limit=0.2, neg_limit=-0.2)
self.pid = PIDController(1, 0, k_f=0, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
def reset(self):
self.lowpass_filtered = 0.0