From d5fa6c20d1813ca1be42b70057020224386e905f Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Fri, 20 Dec 2024 19:32:53 +0900
Subject: [PATCH] feat(pid_longitudinal_controller): change slope compensation
 mode to trajectory_goal_adaptive (#1288)

Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
 .../control/trajectory_follower/longitudinal/pid.param.yaml     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index c011c67430..411477d2ba 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -73,7 +73,7 @@
 
     # slope compensation
     lpf_pitch_gain: 0.95
-    slope_source: "trajectory_adaptive" # raw_pitch, trajectory_pitch or trajectory_adaptive
+    slope_source: "trajectory_goal_adaptive" # raw_pitch, trajectory_pitch, trajectory_adaptive or trajectory_goal_adaptive
     adaptive_trajectory_velocity_th: 1.0
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1