add parameter for PID integration time threshold

Signed-off-by: Daniel Sanchez <[email protected]>
autowarefoundation · Nov 21, 2023 · be07256 · be07256
1 parent d466161
commit be07256
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
@@ -33,6 +33,7 @@
     min_d_effort: 0.0
     lpf_vel_error_gain: 0.9
     current_vel_threshold_pid_integration: 0.5
+    time_threshold_before_pid_integration: 2.0
     enable_brake_keeping_before_stop: false
     brake_keeping_acc: -0.2