From b7a6bdf5f72c0ed025fa20335083e23c8308b978 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 24 Jul 2024 13:53:32 +0900 Subject: [PATCH] feat(pid_longitudinal_controller): re-organize diff limit structure (#1052) * rearange params Signed-off-by: Yuki Takagi --- .../control/trajectory_follower/longitudinal/pid.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 5f023e1685..97a1d64ed8 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/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: 2.0 min_jerk: -5.0 + max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1] # slope compensation lpf_pitch_gain: 0.95