From 4afc06f12ec0ba398a165595dc4a95285bfd3827 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Fri, 9 Feb 2024 13:26:50 +0300 Subject: [PATCH] feat(pid_longitudinal_controller): adjust slope compensation parameters (#585) Signed-off-by: Berkay Karaman --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 5 +++-- 1 file changed, 3 insertions(+), 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 index c39088753f..ad6217663f 100644 --- 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