Remove current_vel_threshold_pid_integration param

Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Nov 20, 2023 · 48dfaca · 48dfaca
1 parent 1fbf782
commit 48dfaca
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diff --git a/control/pid_longitudinal_controller/README.md b/control/pid_longitudinal_controller/README.md
@@ -207,7 +207,6 @@ AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 | max_d_effort                          | double | max value of acceleration with d gain                                                                                                                              | 0.0           |
 | min_d_effort                          | double | min value of acceleration with d gain                                                                                                                              | 0.0           |
 | lpf_vel_error_gain                    | double | gain of low-pass filter for velocity error                                                                                                                         | 0.9           |
-| current_vel_threshold_pid_integration | double | Velocity error is integrated for I-term only when the absolute value of current velocity is larger than this parameter. [m/s]                                      | 0.5           |
 | brake_keeping_acc                     | double | If `enable_brake_keeping_before_stop` is true, a certain acceleration is kept during DRIVE state before the ego stops [m/s^2] See [Brake keeping](#brake-keeping). | 0.2           |
 
 ### STOPPING Parameter (smooth stop)

diff --git a/control/pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml b/control/pid_longitudinal_controller/param/longitudinal_controller_defaults.param.yaml
@@ -32,7 +32,6 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
-    current_vel_threshold_pid_integration: 0.5
     enable_brake_keeping_before_stop: false
     brake_keeping_acc: -0.2
 

diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -100,9 +100,6 @@ PidLongitudinalController::PidLongitudinalController(rclcpp::Node & node)
     const double lpf_vel_error_gain{node.declare_parameter<double>("lpf_vel_error_gain")};
     m_lpf_vel_error = std::make_shared<LowpassFilter1d>(0.0, lpf_vel_error_gain);
 
-    m_current_vel_threshold_pid_integrate =
-      node.declare_parameter<double>("current_vel_threshold_pid_integration");  // [m/s]
-
     m_enable_brake_keeping_before_stop =
       node.declare_parameter<bool>("enable_brake_keeping_before_stop");         // [-]
     m_brake_keeping_acc = node.declare_parameter<double>("brake_keeping_acc");  // [m/s^2]
@@ -282,8 +279,6 @@ rcl_interfaces::msg::SetParametersResult PidLongitudinalController::paramCallbac
     update_param("max_d_effort", max_d);
     update_param("min_d_effort", min_d);
     m_pid_vel.setLimits(max_pid, min_pid, max_p, min_p, max_i, min_i, max_d, min_d);
-
-    update_param("current_vel_threshold_pid_integration", m_current_vel_threshold_pid_integrate);
   }
 
   // stopping state

diff --git a/control/trajectory_follower_node/param/longitudinal/pid.param.yaml b/control/trajectory_follower_node/param/longitudinal/pid.param.yaml
@@ -32,7 +32,6 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
-    current_vel_threshold_pid_integration: 0.5
     enable_brake_keeping_before_stop: false
     brake_keeping_acc: -0.2