From d36bd9636579c492d2d52fdbd6d0c09cf0756f3e Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Tue, 22 Apr 2025 19:01:28 +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 a6fbe5883..784897a80 100644 --- a/selfdrive/controls/lib/disturbance_controller.py +++ b/selfdrive/controls/lib/disturbance_controller.py @@ -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)