From 7d8be7eec07e939cb8aa4d378ed9f074df637b82 Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Tue, 22 Apr 2025 18:51:10 +0200 Subject: [PATCH] Update disturbance_controller.py --- selfdrive/controls/lib/disturbance_controller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py index 09904dc94..a6fbe5883 100644 --- a/selfdrive/controls/lib/disturbance_controller.py +++ b/selfdrive/controls/lib/disturbance_controller.py @@ -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)