Tune Values in current.yaml so the car does not oscillate

Author: jyl2017

GEMstack/knowledge/defaults/current.yaml

@@ -14,21 +14,21 @@ control:
     pure_pursuit:
         lookahead: 2.0
         lookahead_scale: 2.0
-        crosstrack_gain: 0.5
+        crosstrack_gain: 0.3
         desired_speed: trajectory
     longitudinal_control:
-        pid_p: 1.0
-        pid_i: 0.05
+        pid_p: 0.8
+        pid_i: 0.03
         pid_d: 0.0
 
 #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
+        dt: 0.05    #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
+        #    linear: 0.02    #2% noise