update current.yaml

Author: Patrick8894

GEMstack/knowledge/defaults/current.yaml

@@ -1,51 +1,51 @@
-# ********* Main settings entry point for behavior stack ***********
-
-# Configure settings for the vehicle / vehicle model
-vehicle:  !include ../vehicle/gem_e4.yaml
-
-#arguments for algorithm components here
-model_predictive_controller:
-    dt: 0.1
-    lookahead: 20
-control:
-    recovery:
-        brake_amount : 0.5
-        brake_speed : 2.0
-    
-    # Pure Pursuit controller parameters
-    pure_pursuit:
-        lookahead: 2.0                  # Base lookahead distance (meters)
-        lookahead_scale: 3.0             # Velocity-dependent lookahead scaling factor
-        crosstrack_gain: 0.5             # Gain for crosstrack error correction (default: 1)
-        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
-    
-    # Stanley controller parameters (fine tune this)
-    stanley:
-        control_gain: 1.5
-        softening_gain: 0.2
-        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
-    
-    # MPC controller parameters
-    mpc:
-        dt: 0.2                          # Time step for the MPC controller (seconds)
-        horizon: 30                      # Prediction horizon for the MPC controller (number of time steps)
-        switch_gear: False                # Whether to switch gears during runtime
-        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
-
-    # Shared longitudinal control parameters
-    longitudinal_control:
-        pid_p: 1.0                      # Proportional gain for speed PID controller
-        pid_i: 0.1                       # Integral gain for speed PID controller
-        pid_d: 1.0                       # Derivative gain for speed PID controller
-
-#configure the simulator, if using
-simulator:
-    dt: 0.01
-    real_time_multiplier: 1.0    # make the simulator run faster than real time by making this > 1
-    gnss_emulator: 
-        dt: 0.1    #10Hz
-        #position_noise: 0.1  #10cm noise
-        #orientation_noise: 0.04  #2.3 degrees noise
-        #velocity_noise:
-        #    constant: 0.04  #4cm/s noise
-        #    linear: 0.02    #2% noise
+# ********* Main settings entry point for behavior stack ***********
+
+# Configure settings for the vehicle / vehicle model
+vehicle:  !include ../vehicle/gem_e4.yaml
+
+#arguments for algorithm components here
+model_predictive_controller:
+    dt: 0.1
+    lookahead: 20
+control:
+    recovery:
+        brake_amount : 0.5
+        brake_speed : 2.0
+    
+    # Pure Pursuit controller parameters
+    pure_pursuit:
+        lookahead: 2.0                  # Base lookahead distance (meters)
+        lookahead_scale: 3.0             # Velocity-dependent lookahead scaling factor
+        crosstrack_gain: 0.5             # Gain for crosstrack error correction (default: 1)
+        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
+    
+    # Stanley controller parameters (fine tune this)
+    stanley:
+        control_gain: 1.5
+        softening_gain: 0.2
+        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
+    
+    # MPC controller parameters
+    mpc:
+        dt: 0.2                          # Time step for the MPC controller (seconds)
+        horizon: 30                      # Prediction horizon for the MPC controller (number of time steps)
+        switch_gear: False                # Whether to switch gears during runtime
+        desired_speed: trajectory        # Speed reference source: can be "trajectory", "path", or a constant value
+
+    # Shared longitudinal control parameters
+    longitudinal_control:
+        pid_p: 1.0                      # Proportional gain for speed PID controller
+        pid_i: 0.1                       # Integral gain for speed PID controller
+        pid_d: 1.0                       # Derivative gain for speed PID controller
+
+#configure the simulator, if using
+simulator:
+    dt: 0.01
+    real_time_multiplier: 1.0    # make the simulator run faster than real time by making this > 1
+    gnss_emulator: 
+        dt: 0.1    #10Hz
+        #position_noise: 0.1  #10cm noise
+        #orientation_noise: 0.04  #2.3 degrees noise
+        #velocity_noise:
+        #    constant: 0.04  #4cm/s noise
+        #    linear: 0.02    #2% noise