From 45ad76b85f764a22b8d4587c37ca5e0ca4d29fad Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 16 Dec 2024 19:32:58 +0900 Subject: [PATCH] feat(pid_longitudinal_controller): change default slope compesation source to trajectory_adaptive (#1276) Signed-off-by: yuki-takagi-66 --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 3f42dbd599..463bb2b11d 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -75,7 +75,7 @@ # slope compensation lpf_pitch_gain: 0.95 - slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive + slope_source: "trajectory_adaptive" # raw_pitch, trajectory_pitch or trajectory_adaptive adaptive_trajectory_velocity_th: 1.0 max_pitch_rad: 0.1 min_pitch_rad: -0.1