controller_conf.pb.txt

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ts: 0.01
preview_window: 0
cf: 155494.663
cr: 155494.663
mass_fl: 520
mass_fr: 520
mass_rl: 520
mass_rr: 520
eps: 0.01
matrix_q: 0.05
matrix_q: 0.0
matrix_q: 1.0
matrix_q: 0.0
reverse_matrix_q: 0.05
reverse_matrix_q: 0.0
reverse_matrix_q: 1.0
reverse_matrix_q: 0.0
cutoff_freq: 10
mean_filter_window_size: 10
max_iteration: 150
max_lateral_acceleration: 5.0
enable_reverse_leadlag_compensation: true
enable_steer_mrac_control: false
enable_look_ahead_back_control: true
lookahead_station: 1.4224
lookback_station: 2.8448
lookahead_station_high_speed: 1.4224
lookback_station_high_speed: 2.8448
switch_speed: 2.0
switch_speed_window: 0.0
query_relative_time: 0.8
enable_navigation_mode_position_update: true
trajectory_transform_to_com_reverse: true
trajectory_transform_to_com_drive: true
enable_feedback_augment_on_high_speed: false
enable_maximum_steer_rate_limit: false
lock_steer_speed: -0.081
query_time_nearest_point_only: false
enable_navigation_mode_error_filter: false
reverse_feedforward_ratio: 1.4
reverse_use_dynamic_model: false
lat_err_gain_scheduler {
  scheduler {
    speed: 4.0
    ratio: 1.0
  }
  scheduler {
    speed: 8.0
    ratio: 0.6
  }
  scheduler {
    speed: 12.0
    ratio: 0.2
  }
  scheduler {
    speed: 20.0
    ratio: 0.1
  }
  scheduler {
    speed: 25.0
    ratio: 0.05
  }
}
heading_err_gain_scheduler {
  scheduler {
    speed: 4.0
    ratio: 1.0
  }
  scheduler {
    speed: 8.0
    ratio: 0.6
  }
  scheduler {
    speed: 12.0
    ratio: 0.4
  }
  scheduler {
    speed: 20.0
    ratio: 0.2
  }
  scheduler {
    speed: 25.0
    ratio: 0.1
  }
}
reverse_leadlag_conf {
  innerstate_saturation_level: 3000
  alpha: 1.0
  beta: 1.0
  tau: 0.0
}
steer_mrac_conf {
  mrac_model_order: 1
  reference_time_constant: 0.09
  reference_natural_frequency: 10
  reference_damping_ratio: 0.9
  adaption_state_gain: 0.0001
  adaption_desired_gain: 0.0001
  adaption_nonlinear_gain: 0.0001
  adaption_matrix_p: 1.0
  mrac_saturation_level: 1.0
  anti_windup_compensation_gain: 0.0001
  clamping_time_constant: 0.08
}