add param to enable or disable low speed error integration

Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Nov 21, 2023 · 16b93a9 · 16b93a9
1 parent be07256
commit 16b93a9
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -32,6 +32,7 @@
     max_d_effort: 0.0
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
+    enable_integration_at_low_speed: false
     current_vel_threshold_pid_integration: 0.5
     time_threshold_before_pid_integration: 2.0
     enable_brake_keeping_before_stop: false