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feat(pid_longitudinal_controller): change slope compensation mode to trajectory_goal_adaptive #1288

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merged 2 commits into from
Dec 20, 2024
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feat(pid_longitudinal_controller): change slope compensation mode to trajectory_goal_adaptive #1288

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yuki-takagi-66 Dec 20, 2024
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yuki-takagi-66 Dec 20, 2024
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2 changes: 1 addition & 1 deletion autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
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Expand Up @@ -73,7 +73,7 @@

# slope compensation
lpf_pitch_gain: 0.95
slope_source: "trajectory_adaptive" # raw_pitch, trajectory_pitch or trajectory_adaptive
slope_source: "trajectory_goal_adaptive" # raw_pitch, trajectory_pitch, trajectory_adaptive or trajectory_goal_adaptive
adaptive_trajectory_velocity_th: 1.0
max_pitch_rad: 0.1
min_pitch_rad: -0.1
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