From d8928db91424df972fa566748eaf551486644dcb Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Sun, 6 Apr 2025 18:35:13 +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 b957a0b04..7f97a57a2 100644 --- a/selfdrive/controls/lib/disturbance_controller.py +++ b/selfdrive/controls/lib/disturbance_controller.py @@ -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