add param

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
autowarefoundation · Aug 26, 2024 · 15b1796 · 15b1796
1 parent c709252
commit 15b1796
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml b/control/autoware_trajectory_follower_node/param/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