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Update disturbance_controller.py

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infiniteCable
2025-04-22 19:01:28 +02:00
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parent 7d8be7eec0
commit d36bd96365
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/disturbance_controller.py
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@@ -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 = -disturbance
output_curvature = self.pid.update(error, feedforward=desired_curvature, speed=CS.vEgo)
self.desired_curvature_hist.append(desired_curvature)