add update_param

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/lowpass_filter.hpp

@@ -61,6 +61,8 @@ class LowpassFilter1d
     m_x = ret;
     return ret;
   }
+
+  void setGain(const double g) { m_gain = g; }
 };
 }  // namespace autoware::motion::control::pid_longitudinal_controller
 #endif  // AUTOWARE__PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_

control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

@@ -296,6 +296,10 @@ rcl_interfaces::msg::SetParametersResult PidLongitudinalController::paramCallbac
     update_param("kd", kd);
     m_pid_vel.setGains(kp, ki, kd);
 
+    double lpf_vel_error_gain{node_parameters_->get_parameter("lpf_vel_error_gain").as_double()};
+    update_param("lpf_vel_error_gain", lpf_vel_error_gain);
+    m_lpf_vel_error->setGain(lpf_vel_error_gain);
+
     double max_pid{node_parameters_->get_parameter("max_out").as_double()};
     double min_pid{node_parameters_->get_parameter("min_out").as_double()};
     double max_p{node_parameters_->get_parameter("max_p_effort").as_double()};
@@ -370,8 +374,11 @@ rcl_interfaces::msg::SetParametersResult PidLongitudinalController::paramCallbac
     update_param("emergency_jerk", p.jerk);
   }
 
-  // acceleration limit
+  // acceleration feedback
   update_param("acc_feedback_gain", m_acc_feedback_gain);
+  double lpf_acc_error_gain{node_parameters_->get_parameter("lpf_acc_error_gain").as_double()};
+  update_param("lpf_acc_error_gain", lpf_acc_error_gain);
+  m_lpf_acc_error->setGain(lpf_acc_error_gain);
 
   // acceleration limit
   update_param("min_acc", m_min_acc);