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Update disturbance_controller.py

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infiniteCable
2025-04-22 18:51:10 +02:00
committed by GitHub
parent a6230a10a9
commit 7d8be7eec0
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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@@ -13,7 +13,7 @@ class DisturbanceController:
def __init__(self, CP):
self.lowpass_filtered_prev = 0.0
self.alpha_prev = ALPHA_MAX
self.pid = PIDController(1, 0, k_f=0, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
self.pid = PIDController(1, 0, k_f=1, pos_limit=MAX_CURVATURE, neg_limit=-MAX_CURVATURE)
self.length_des_curv_hist = int(round(CP.steerActuatorDelay / DT_CTRL)) + 1
self.desired_curvature_hist = deque([0.0], maxlen=self.length_des_curv_hist)
@@ -56,7 +56,7 @@ class DisturbanceController:
reaction = self.lowpass_filter(actual_curvature, self.lowpass_filtered_prev, alpha)
disturbance = self.highpass_filter(actual_curvature, reaction)
error = 0 #disturbance
error = disturbance
output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
self.desired_curvature_hist.append(desired_curvature)