From a6e236a3f9377795ff68b4f6c8f2ab37becb81dd Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Sat, 12 Apr 2025 09:04:26 +0200 Subject: [PATCH] Update disturbance_controller.py --- selfdrive/controls/lib/disturbance_controller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py index da785fc72..f3d544826 100644 --- a/selfdrive/controls/lib/disturbance_controller.py +++ b/selfdrive/controls/lib/disturbance_controller.py @@ -50,10 +50,10 @@ class DisturbanceController: return desired_curvature steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg) - actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, params.roll) + actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, 0.) actual_curvature_3dof = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x, calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset, - params.roll) + 0.) actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_3dof]) alpha = self.compute_dynamic_alpha(desired_curvature)