feat(tier4_control_launch): disable the trajectory extension (autowar…

…efoundation#866) disable the trajectory extending for terminal yaw control Signed-off-by: Zhe Shen <[email protected]>
tier4 · Feb 14, 2024 · 6c6e864 · 6c6e864
1 parent 39892b1
commit 6c6e864
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -13,7 +13,7 @@
     curvature_smoothing_num_ref_steer: 15   # point-to-point index distance used in curvature calculation (for steer command reference): curvature is calculated from three points p(i-num), p(i), p(i+num)
 
     # -- trajectory extending --
-    extend_trajectory_for_end_yaw_control: true  # flag of trajectory extending for terminal yaw control
+    extend_trajectory_for_end_yaw_control: false  # flag of trajectory extending for terminal yaw control
 
     # -- mpc optimization --
     qp_solver_type: "osqp"                       # optimization solver option (unconstraint_fast or osqp)