From c0f423c05062340304e7c500baa51163126b9191 Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Tue, 22 Apr 2025 14:40:52 +0200 Subject: [PATCH] Revert "Update controlsd.py" This reverts commit 040a9db71983ed5af650f68df8a21ea3f3f89f2f. --- selfdrive/controls/controlsd.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 06a7ac174..6cc1421db 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -19,6 +19,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_T_FOLLOW +from selfdrive.controls.lib.disturbance_controller import DisturbanceController from openpilot.common.pt2 import PT2Filter from openpilot.common.realtime import DT_CTRL @@ -134,6 +135,7 @@ class Controls: if not CC.latActive: self.LaC.reset() + self.disturbance_controller.reset() self.smooth_steer.reset() if not CC.longActive: self.LoC.reset()