Update controlsd.py

selfdrive/controls/controlsd.py

@@ -19,6 +19,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_T_FOLLOW
+from selfdrive.controls.lib.disturbance_controller import DisturbanceController
 
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
@@ -48,9 +49,12 @@ class Controls:
 
     self.steer_limited_by_controls = False
     self.curvature = 0.0
+    self.curvature_3dof = 0.0
     self.desired_curvature = 0.0
     self.roll = 0.0
 
+    self.disturbance_controller = DisturbanceController()
+
     self.pose_calibrator = PoseCalibrator()
     self.calibrated_pose: Pose | None = None
 
@@ -83,6 +87,8 @@ class Controls:
 
     steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
     self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, 0)
+    self.curvature_3dof = -VM.calc_curvature_3dof(self.calibrated_pose.acceleration.y, self.calibrated_pose.acceleration.x, self.calibrated_pose.angular_velocity.yaw,
+                                                  CS.vEgo, steer_angle_without_offset, 0)
 
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
@@ -132,6 +138,8 @@ class Controls:
     # Steering PID loop and lateral MPC
     # Reset desired curvature to current to avoid violating the limits on engage
     new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
+    current_disturbance = self.disturbance_controller.compute_disturbance(new_desired_curvature, self.curvature_3dof)
+    new_desired_curvature = new_desired_curvature - current_disturbance
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
 
     actuators.curvature = self.desired_curvature