From e683e47c8f7c2c05aebd3bd6e1b5719572fc4d29 Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Thu, 17 Apr 2025 11:59:57 +0200 Subject: [PATCH] Update disturbance_controller.py perf: 3dof only --- selfdrive/controls/lib/disturbance_controller.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/disturbance_controller.py b/selfdrive/controls/lib/disturbance_controller.py index f3d544826..e8490ee72 100644 --- a/selfdrive/controls/lib/disturbance_controller.py +++ b/selfdrive/controls/lib/disturbance_controller.py @@ -50,11 +50,9 @@ class DisturbanceController: return desired_curvature steering_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg) - actual_curvature_vm = -VM.calc_curvature(steering_angle_without_offset, CS.vEgo, 0.) - actual_curvature_3dof = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x, + actual_curvature = -VM.calc_curvature_3dof(calibrated_pose.acceleration.y, calibrated_pose.acceleration.x, calibrated_pose.angular_velocity.yaw, CS.vEgo, steering_angle_without_offset, 0.) - actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_3dof]) alpha = self.compute_dynamic_alpha(desired_curvature) reaction = self.lowpass_filter(actual_curvature, alpha)