Update disturbance_controller.py

2026-09-05 15:53:41 +08:00 · 2025-04-06 18:33:37 +02:00
parent 298b2f677c
commit bf61b257d2
1 changed files with 1 additions and 1 deletions
@@ -45,7 +45,7 @@ class DisturbanceController:
    reaction = self.lowpass_filter(actual_curvature, alpha)
    disturbance = self.highpass_filter(actual_curvature, reaction)

-    error = desired_curvature - disturbance
+    error = -disturbance
    output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
    
    return output_curvature