From 838145be173ac3c25de6992166ca7f456f88fd54 Mon Sep 17 00:00:00 2001
From: infiniteCable <75014343+infiniteCable@users.noreply.github.com>
Date: Sat, 19 Apr 2025 12:59:08 +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 3b0513b06..a304b321d 100644
--- a/selfdrive/controls/lib/disturbance_controller.py
+++ b/selfdrive/controls/lib/disturbance_controller.py
@@ -21,7 +21,7 @@ KE_ENERGY  = 0.25   # scaling from |ay_bp| to alpha boost
 
 # PID gains
 PID_KP = 1.0
-PID_KI = 0.05  # small I to cancel steady wind offset
+PID_KI = 0.0 #0.05  # small I to cancel steady wind offset
 PID_KF = 0.0
 
 class DisturbanceController: