feat(pid_longitudinal_controller): change default slope compesation s…

…ource to trajectory_adaptive (autowarefoundation#1276) Signed-off-by: yuki-takagi-66 <[email protected]>
tier4 · Dec 16, 2024 · 45ad76b · 45ad76b
1 parent 9e6ddd3
commit 45ad76b
Showing 1 changed file with 1 addition and 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
@@ -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