feat(pid_longitudinal_controller)!: add acceleration feedback block (a…

…utowarefoundation#1139) * add params --------- Signed-off-by: Yuki Takagi <[email protected]>
tier4 · Aug 27, 2024 · 04970b4 · 04970b4
1 parent d9ee561
commit 04970b4
Showing 1 changed file with 4 additions and 0 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
@@ -60,6 +60,10 @@
     emergency_acc: -5.0 # denotes acceleration
     emergency_jerk: -3.0
 
+    # acceleration feedback
+    lpf_acc_error_gain: 0.98
+    acc_feedback_gain: 0.0
+
     # acceleration limit
     max_acc: 3.0
     min_acc: -5.0