feat(trajectory_follower): use trajectory for pitch calculation (#382)

Signed-off-by: Makoto Kurihara <[email protected]>
tier4 · Jun 25, 2024 · 9961f40 · 9961f40
1 parent a4b7137
commit 9961f40
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
@@ -70,6 +70,8 @@
     min_jerk: -2.0
 
     # slope compensation
+    # pitch
+    use_trajectory_for_pitch_calculation: true
     lpf_pitch_gain: 0.95
     slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive
     adaptive_trajectory_velocity_th: 1.0