feat: first order lag for vehicle control #369
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Signed-off-by: Autumn60 <[email protected]>
Signed-off-by: Autumn60 <[email protected]>
Signed-off-by: Autumn60 <[email protected]>
Signed-off-by: Autumn60 <[email protected]>
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Add first order delay for AWSIM vehicle control(acceleration and steering).
Since the public property names are unchanged, it is fully compatible with the existing
Vehicle.cs.This adds the configurable variable ([s]) to the Vehicle.cs inspector.
When the time constant is set to 0, the delay is disabled and an ideal response is obtained.
As a reminder, these variables are only set during the initialization of the
FirstOrderLaggedFloatobject, so parameter changes during the simulation run are not supported.