From 04970b492cae3d840bc7ffc9d62c35dab70ca56c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 27 Aug 2024 12:01:24 +0900 Subject: [PATCH] feat(pid_longitudinal_controller)!: add acceleration feedback block (#1139) * add params --------- Signed-off-by: Yuki Takagi --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index 97a1d64ed8..5c5d65a13b 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -60,6 +60,10 @@ emergency_acc: -5.0 # denotes acceleration emergency_jerk: -3.0 + # acceleration feedback + lpf_acc_error_gain: 0.98 + acc_feedback_gain: 0.0 + # acceleration limit max_acc: 3.0 min_acc: -5.0