feat(pid_longitudinal_controller): adjust slope compensation parameters

Signed-off-by: Berkay Karaman <[email protected]>
autowarefoundation · Jan 31, 2024 · 8d2b58e · 8d2b58e
1 parent b7880fe
commit 8d2b58e
Showing 1 changed file with 3 additions and 2 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
@@ -69,8 +69,9 @@
     max_jerk: 2.0
     min_jerk: -5.0
 
-    # pitch
-    use_trajectory_for_pitch_calculation: false
+    # slope compensation
     lpf_pitch_gain: 0.95
+    slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1