acc fb: add lpf reset

yuki-takagi-66 · yuki-takagi-66 · commit 6ed1a32878e7 · 2024-08-02T00:58:50.000+09:00
Signed-off-by: Yuki Takagi &lt;yuki.takagi@tier4.jp&gt;
diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -761,6 +761,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
 
       m_pid_vel.reset();
       m_lpf_vel_error->reset(0.0);
+      m_lpf_acc_error->reset(0.0);
       return changeState(ControlState::DRIVE);
     }
 

Original file line number	Diff line number	Diff line change
`@@ -761,6 +761,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d`
`761`	`761`
`762`	`762`	`m_pid_vel.reset();`
`763`	`763`	`m_lpf_vel_error->reset(0.0);`
	`764`	`+ m_lpf_acc_error->reset(0.0);`
`764`	`765`	`return changeState(ControlState::DRIVE);`
`765`	`766`	`}`
`766`	`767`