mawei/openpilot-evo
1
0
Fork 0
mirror of https://github.com/infiniteCable2/openpilot.git synced 2026-09-08 09:13:42 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update disturbance_controller.py

Browse Source
This commit is contained in:
infiniteCable
2025-04-22 17:19:47 +02:00
committed by GitHub
parent 237c346b93
commit a6230a10a9
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/disturbance_controller.py
+1 -1
View File
@@ -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 = disturbance
error = 0 #disturbance
output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
self.desired_curvature_hist.append(desired_curvature)