mrac_conf.proto

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syntax = "proto2";
 
package apollo.control;
 
message MracConf {
  optional int32 mrac_model_order = 1 [default = 1];
  optional double reference_time_constant = 2;
  optional double reference_natural_frequency = 3;
  optional double reference_damping_ratio = 4;
  // state gain size must be not higher than the mrac_model_order
  repeated double adaption_state_gain = 5;
  optional double adaption_desired_gain = 6;
  optional double adaption_nonlinear_gain = 7;
  // adaption matrix size must match the model matrix size based on
  // mrac_model_order
  repeated double adaption_matrix_p = 8;
  optional double mrac_saturation_level = 9 [default = 1.0];
  // compensation gain size must be not higher than the mrac_model_order
  repeated double anti_windup_compensation_gain = 10;
  optional double clamping_time_constant = 11;
}