From fcb392a22c1863fcaea96e8a6c37d0b2736e58aa Mon Sep 17 00:00:00 2001 From: infiniteCable2 Date: Sun, 6 Apr 2025 16:51:10 +0200 Subject: [PATCH] Update controlsd.py --- selfdrive/controls/controlsd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 523df2f84..baf89b936 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -53,6 +53,7 @@ class Controls: self.desired_curvature = 0.0 self.roll = 0.0 + self.enable_disturbance_correction = self.params.get_bool("EnableDisturbanceCorrection") self.disturbance_controller = DisturbanceController() self.pose_calibrator = PoseCalibrator() @@ -138,7 +139,7 @@ class Controls: # Steering PID loop and lateral MPC # Reset desired curvature to current to avoid violating the limits on engage new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature - current_disturbance = self.disturbance_controller.compute_disturbance(new_desired_curvature, self.curvature_3dof) + current_disturbance = self.disturbance_controller.compute_disturbance(new_desired_curvature, self.curvature_3dof) if self.enable_disturbance_correction else 0 new_desired_curvature = new_desired_curvature - current_disturbance self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)