From 16b93a922c9f3999553762d84eeee09f7a33299c Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Tue, 21 Nov 2023 17:19:52 +0900 Subject: [PATCH] add param to enable or disable low speed error integration Signed-off-by: Daniel Sanchez --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 1 + 1 file changed, 1 insertion(+) 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 dc3c44f16b..c39088753f 100644 --- 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