feat(pid_longitudinal_controller): change the condition from emergency to stopped #5892
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…cy to stopped Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #5892 +/- ##
=======================================
Coverage 15.30% 15.30%
=======================================
Files 1747 1747
Lines 120119 120119
Branches 36570 36570
=======================================
Hits 18380 18380
Misses 81124 81124
Partials 20615 20615
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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Related this PR, do you know why the emergency_condition is true only when the velocity command is almost zero? |
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@TakaHoribe Sorry, I do not know. |
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Dec 18, 2023
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…y to stopped (autowarefoundation#5892) chore(pid_longitudinal_controller): change the condition from emergency to stopped Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: karishma <karishma@interpl.ai>
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…y to stopped (autowarefoundation#5892) chore(pid_longitudinal_controller): change the condition from emergency to stopped Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: karishma <karishma@interpl.ai>
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…y to stopped (autowarefoundation#5892) chore(pid_longitudinal_controller): change the condition from emergency to stopped Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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…y to stopped (autowarefoundation#5892) chore(pid_longitudinal_controller): change the condition from emergency to stopped Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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…y to stopped (autowarefoundation#5892) chore(pid_longitudinal_controller): change the condition from emergency to stopped Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
When the ego exceeds the goal position, the longitudinal controller does the emergency stop.
Even after the ego stops, the control state in the longitudinal controller is still emergency and showing the following unnecessary message.
This PR changes the condition from the emergency to the stopped.
In the emergency state, when the ego successfully stopped, the state will be changed to the stopped.
Tests performed
psim
Effects on system behavior
nothing
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