From e144c685803974170b0c53d83e343e4f2e0ef0c8 Mon Sep 17 00:00:00 2001 From: eiki <53928021+N-Eiki@users.noreply.github.com> Date: Fri, 9 Aug 2024 18:45:46 +0900 Subject: [PATCH] update pid.param.yaml (#936) Signed-off-by: N-Eiki --- .../awsim_jpt/longitudinal/pid.param.yaml | 6 +++--- .../trajectory_follower/default/longitudinal/pid.param.yaml | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml index 4124bf17c4..5a372290cd 100644 --- a/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/awsim_jpt/longitudinal/pid.param.yaml @@ -53,12 +53,11 @@ # stopped state stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 + stopped_acc: -3.4 # denotes pedal position # emergency state emergency_vel: 0.0 - emergency_acc: -5.0 + emergency_acc: -5.0 # denotes acceleration emergency_jerk: -3.0 # acceleration limit @@ -68,6 +67,7 @@ # jerk limit max_jerk: 3.5 min_jerk: -5.0 + max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1] # slope compensation lpf_pitch_gain: 0.95 diff --git a/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml index 2b93502430..9e0c12f38f 100644 --- a/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/default/longitudinal/pid.param.yaml @@ -53,12 +53,11 @@ # stopped state stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 + stopped_acc: -3.4 # denotes acceleration # emergency state emergency_vel: 0.0 - emergency_acc: -5.0 + emergency_acc: -5.0 # denotes acceleration emergency_jerk: -3.0 # acceleration limit @@ -68,6 +67,7 @@ # jerk limit max_jerk: 3.5 min_jerk: -5.0 + max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1] # slope compensation lpf_pitch_gain: 0.95