Add parameter for using steer prediction (#88)

tier4 · Aug 16, 2021 · 9d11c5f · 9d11c5f
1 parent da442d0
commit 9d11c5f
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/control_launch/config/mpc_follower/mpc_follower_param.yaml b/control_launch/config/mpc_follower/mpc_follower_param.yaml
@@ -4,6 +4,7 @@
 ctrl_period: 0.03               # control period [s]
 traj_resample_dist: 0.1         # path resampling interval [m]
 enable_yaw_recalculation: false # flag for recalculation of yaw angle after resampling
+use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
 admisible_position_error: 5.0   # stop mpc calculation when error is larger than the following value
 admisible_yaw_error_: 1.57      # stop mpc calculation when error is larger than the following value