controller_conf.pb.txt

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ts: 0.01
brake_minimum_action: 0.0
throttle_minimum_action: 0.0
speed_controller_input_limit: 1.5
station_error_limit: 2.0
preview_window: 40.0
standstill_acceleration: -0.3
enable_reverse_leadlag_compensation: false
use_preview_reference_check: false
steer_cmd_interval: 20.0
enable_speed_station_preview: false
enable_slope_offset: false
use_acceleration_lookup_limit: false
use_steering_check: true
pedestrian_stop_time: 15
standstill_narmal_acceleration: -0.5
full_stop_long_time: 3.0
epb_change_count: 40
stop_gain_acceleration: -1.0
full_stop_path_remain_gain: 0.3
use_opposite_slope_compensation: 1
station_pid_conf {
  integrator_enable: false
  integrator_saturation_level: 0.3
  kp: 0.2
  ki: 0.0
  kd: 0.0
}
low_speed_pid_conf {
  integrator_enable: true
  integrator_saturation_level: 0.3
  kp: 2.0
  ki: 0.3
  kd: 0.0
}
high_speed_pid_conf {
  integrator_enable: true
  integrator_saturation_level: 0.3
  kp: 1.0
  ki: 0.3
  kd: 0.0
}
switch_speed: 3.0
switch_speed_window: 0.0
reverse_station_pid_conf {
  integrator_enable: true
  integrator_saturation_level: 0.5
  kp: 0.4
  ki: 0.1
  kd: 0.0
}
reverse_speed_pid_conf {
  integrator_enable: true
  integrator_saturation_level: 0.5
  kp: 0.8
  ki: 0.3
  kd: 0.0
}
reverse_station_leadlag_conf {
  innerstate_saturation_level: 1000
  alpha: 1.0
  beta: 1.0
  tau: 0.0
}
reverse_speed_leadlag_conf {
  innerstate_saturation_level: 1000
  alpha: 1.0
  beta: 1.0
  tau: 0.0
}
pitch_angle_filter_conf {
  cutoff_freq: 5
}
pit_station_pid_conf {
  integrator_enable: true
  integrator_saturation_level: 1.5
  kp: 0.5
  ki: 0.3
  kd: 0.0
}
pit_speed_pid_conf {
  integrator_enable: true
  integrator_saturation_level: 1.0
  kp: 1.0
  ki: 0.2
  kd: 0.0
}