feat(pid_longitudinal_controller): adjust slope compensation parameters

Signed-off-by: Berkay Karaman <[email protected]> update
autowarefoundation · Nov 10, 2023 · fdcd584 · fdcd584
1 parent 29ea479
commit fdcd584
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
@@ -67,8 +67,9 @@
     max_jerk: 2.0
     min_jerk: -5.0
 
-    # pitch
-    use_trajectory_for_pitch_calculation: false
+    # slope compensation
     lpf_pitch_gain: 0.95
+    enable_adaptive_trajectory: true
+    adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1