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pre commit fixes
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Signed-off-by: Daniel Sanchez <[email protected]>
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@danielsanchezaran
danielsanchezaran committed Nov 20, 2023
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Expand Up @@ -193,21 +193,21 @@ AutonomouStuff Lexus RX 450h for under 40 km/h driving.

### DRIVE Parameter

| Name | Type | Description | Default value |
| :------------------------------------ | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| kp | double | p gain for longitudinal control | 1.0 |
| ki | double | i gain for longitudinal control | 0.1 |
| kd | double | d gain for longitudinal control | 0.0 |
| max_out | double | max value of PID's output acceleration during DRIVE state [m/s^2] | 1.0 |
| min_out | double | min value of PID's output acceleration during DRIVE state [m/s^2] | -1.0 |
| max_p_effort | double | max value of acceleration with p gain | 1.0 |
| min_p_effort | double | min value of acceleration with p gain | -1.0 |
| max_i_effort | double | max value of acceleration with i gain | 0.3 |
| min_i_effort | double | min value of acceleration with i gain | -0.3 |
| 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 |
| 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 |
| Name | Type | Description | Default value |
| :----------------- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
| kp | double | p gain for longitudinal control | 1.0 |
| ki | double | i gain for longitudinal control | 0.1 |
| kd | double | d gain for longitudinal control | 0.0 |
| max_out | double | max value of PID's output acceleration during DRIVE state [m/s^2] | 1.0 |
| min_out | double | min value of PID's output acceleration during DRIVE state [m/s^2] | -1.0 |
| max_p_effort | double | max value of acceleration with p gain | 1.0 |
| min_p_effort | double | min value of acceleration with p gain | -1.0 |
| max_i_effort | double | max value of acceleration with i gain | 0.3 |
| min_i_effort | double | min value of acceleration with i gain | -0.3 |
| 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 |
| 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)

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