From 42d147b53ad8847ede3d0484696a2f4828bc5d23 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Sat, 27 May 2023 14:37:23 +0900 Subject: [PATCH] fix(velocity_controller): debug value for feedforward (#3782) Signed-off-by: Takamasa Horibe --- .../include/pid_longitudinal_controller/debug_values.hpp | 1 + .../src/pid_longitudinal_controller.cpp | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp index 51f420470ff34..409af46b16ed1 100644 --- a/control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp +++ b/control/pid_longitudinal_controller/include/pid_longitudinal_controller/debug_values.hpp @@ -56,6 +56,7 @@ class DebugValues PITCH_RAW_TRAJ_DEG = 27, STOP_DIST = 28, FF_SCALE = 29, + ACC_CMD_FF = 30, SIZE // this is the number of enum elements }; diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 78e47edb2cf48..23c4bcc857cd4 100644 --- a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -946,7 +946,8 @@ double PidLongitudinalController::applyVelocityFeedback( m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_FB_P_CONTRIBUTION, pid_contributions.at(0)); m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_FB_I_CONTRIBUTION, pid_contributions.at(1)); m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_FB_D_CONTRIBUTION, pid_contributions.at(2)); - m_debug_values.setValues(DebugValues::TYPE::FF_SCALE, ff_acc); + m_debug_values.setValues(DebugValues::TYPE::FF_SCALE, ff_scale); + m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_FF, ff_acc); return feedback_acc; }