feat(pid_longitudinal_controller): error integration on vehicle takeo…

…ff (#698) * add parameter for PID integration time threshold Signed-off-by: Daniel Sanchez <[email protected]> * add param to enable or disable low speed error integration Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Nov 27, 2023 · 1a37eb3 · 1a37eb3
1 parent 1e78bab
commit 1a37eb3
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -32,7 +32,9 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     current_vel_threshold_pid_integration: 0.5
+    time_threshold_before_pid_integration: 2.0
     enable_brake_keeping_before_stop: false
     brake_keeping_acc: -0.2