From bf61b257d22d8fd98e6c7920378174a54bed987f Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Sun, 6 Apr 2025 18:33:37 +0200 Subject: [PATCH] Update disturbance_controller.py --- selfdrive/controls/lib/disturbance_controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py index fa126c61e..b957a0b04 100644 --- a/selfdrive/controls/lib/disturbance_controller.py +++ b/selfdrive/controls/lib/disturbance_controller.py @@ -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