Merge pull request #567 from tier4/sync-awf-latest

chore: sync awf-latest
autowarefoundation · Aug 27, 2024 · d7bb23e · d7bb23e
2 parents bf551dd + 04970b4
commit d7bb23e
Showing 1 changed file with 4 additions 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
@@ -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