there is problem while slope is calculation

brkay54 · Sep 18, 2023 · 89db1b8 · 89db1b8
1 parent e074fbb
commit 89db1b8
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -977,7 +977,7 @@ double PidLongitudinalController::applyVelocityFeedback(const ControlData & cont
   const bool is_under_control = m_current_operation_mode.mode == OperationModeState::AUTONOMOUS;
   const bool enable_integration =
     (vel_after_delay_abs > m_current_vel_threshold_pid_integrate) && is_under_control;
-  const double error_vel = abs(target_vel_abs - vel_after_delay_abs);
+  const double error_vel = target_vel_abs - vel_after_delay_abs;
   const double error_vel_filtered = m_lpf_vel_error->filter(error_vel);
   std::vector<double> pid_contributions(3);
   const double pid_acc = m_pid_vel.calculate(