From d5fa6c20d1813ca1be42b70057020224386e905f Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 20 Dec 2024 19:32:53 +0900 Subject: [PATCH] feat(pid_longitudinal_controller): change slope compensation mode to trajectory_goal_adaptive (#1288) 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 c011c67430..411477d2ba 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -73,7 +73,7 @@ # slope compensation lpf_pitch_gain: 0.95 - slope_source: "trajectory_adaptive" # raw_pitch, trajectory_pitch or trajectory_adaptive + slope_source: "trajectory_goal_adaptive" # raw_pitch, trajectory_pitch, trajectory_adaptive or trajectory_goal_adaptive adaptive_trajectory_velocity_th: 1.0 max_pitch_rad: 0.1 min_pitch_rad: -0.1