From a55bb514749228215d5bbafecba1cb5492e9f20e Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Tue, 22 Apr 2025 16:49:22 +0200 Subject: [PATCH] Update disturbance_controller.py --- selfdrive/controls/lib/disturbance_controller.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py index 7a4f17d14..b98533eb1 100644 --- a/selfdrive/controls/lib/disturbance_controller.py +++ b/selfdrive/controls/lib/disturbance_controller.py @@ -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