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Update disturbance_controller.py

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infiniteCable2
2025-04-06 18:35:13 +02:00
committed by GitHub
parent bf61b257d2
commit d8928db914
1 changed files with 1 additions and 1 deletions
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selfdrive/controls/lib/disturbance_controller.py
+1 -1
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@@ -12,7 +12,7 @@ class DisturbanceController:
self.lowpass_filtered = 0.0
self.alpha_prev = ALPHA_MIN
self.desired_curvature_prev = 0.0
self.pid = PIDController(1, 1, k_f=0, pos_limit=0.2, neg_limit=-0.2)
self.pid = PIDController(1, 0, k_f=0, pos_limit=0.2, neg_limit=-0.2)
def reset(self):
self.lowpass_filtered = 0.0