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Update disturbance_controller.py

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infiniteCable
2025-04-18 22:18:01 +02:00
committed by GitHub
parent 827a505e49
commit 77942ad71a
1 changed files with 2 additions and 2 deletions
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selfdrive/controls/lib/disturbance_controller.py
+2 -2
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@@ -25,7 +25,7 @@ PID_KI = 0.05 # small I to cancel steady wind offset
PID_KF = 0.0
class DisturbanceController:
"""Wind‑disturbance compensator using
"""Wind disturbance compensator using
* 3DoF curvature estimate
* 1st order Disturbance Observer (Fy_hat)
* adaptive LP/HP separation with band pass energy
@@ -53,7 +53,7 @@ class DisturbanceController:
self.ay_prev = 0.0
def _update_bandpass_energy(self, ay_meas):
"""High‑pass filter to isolate wind‑böe frequency content (≥ 0.5 Hz)."""
"""High pass filter to isolate wind böe frequency content (≥ 0.5 Hz)."""
# 1st order HP: y[n] = alpha*(y[n_1] + x[n] - x[n_1])
self.ay_hp = BP_ALPHA_HP * (self.ay_hp + ay_meas - self.ay_prev)
self.ay_prev = ay_meas