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Update disturbance_controller.py

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infiniteCable
2025-04-22 16:49:22 +02:00
committed by GitHub
parent 3afeda3ae8
commit a55bb51474
1 changed files with 3 additions and 3 deletions
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selfdrive/controls/lib/disturbance_controller.py
+3 -3
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@@ -36,10 +36,10 @@ class DisturbanceController:
alpha = min(alpha, ALPHA_MAX)
if alpha >= ALPHA_MAX * 0.9:
reset_factor = (alpha - ALPHA_MIN) / (ALPHA_MAX - ALPHA_MIN)
lowpass_filtered_prev = (1 - reset_factor) * lowpass_filtered_prev + reset_factor * current_value
lowpass_filtered = (1 - reset_factor) * lowpass_filtered_prev + reset_factor * current_value
else:
lowpass_filtered_prev = (1 - alpha) * lowpass_filtered_prev + alpha * current_value
return lowpass_filtered_prev
lowpass_filtered = (1 - alpha) * lowpass_filtered_prev + alpha * current_value
return lowpass_filtered
def highpass_filter(self, current_value, lowpass_value):
return current_value - lowpass_value