package controller

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Used in: ControlCalibrationTable

• optional double speed = 1

• optional double acceleration = 2

• optional double command = 3

Used in: LonControllerConf, MPCControllerConf

• repeated ControlCalibrationInfo calibration = 1

next id : 27

• optional Header header = 1

• optional double throttle = 3

  target throttle in percentage [0, 100]

• optional double brake = 4

  target brake in percentage [0, 100]

• optional double steering_rate = 6

  target non-directional steering rate, in percentage of full scale per second [0, 100]

• optional double steering_target = 7

  target steering angle, in percentage of full scale [-100, 100]

• optional bool parking_brake = 8

  parking brake engage. true: engaged

• optional double speed = 9

  target speed, in m/s

• optional double acceleration = 10

  target acceleration in m`s^-2

• optional bool reset_model = 16

  model reset

• optional bool engine_on_off = 17

  engine on/off, true: engine on

• optional double trajectory_fraction = 18

  completion percentage of trajectory planned in last cycle

• optional canbus.Chassis.DrivingMode driving_mode = 19

• optional canbus.Chassis.GearPosition gear_location = 20

• optional Debug debug = 22

• optional LatencyStats latency_stats = 24

  optional VehicleSignal signal = 23;

• optional bool is_in_safe_mode = 27

  optional PadMessage pad_msg = 25; optional EngageAdvice engage_advice = 26;

• optional bool left_turn = 13

  deprecated fields

• optional bool right_turn = 14

• optional bool high_beam = 11

• optional bool low_beam = 12

• optional bool horn = 15

• optional TurnSignal turnsignal = 21

• optional double control_test_duration = 1

  configs from gflags

• optional bool enable_csv_debug = 2

• optional bool enable_speed_station_preview = 3

• optional bool is_control_test_mode = 4

• optional bool use_preview_speed_for_table = 5

• optional bool enable_input_timestamp_check = 6

• optional int32 max_localization_miss_num = 7

• optional int32 max_chassis_miss_num = 8

• optional int32 max_planning_miss_num = 9

• optional double max_acceleration_when_stopped = 10

• optional double steer_angle_rate = 11

• optional bool enable_gain_scheduler = 12

• optional bool set_steer_limit = 13

• optional bool enable_slope_offset = 14

• optional double lock_steer_speed = 15

• optional bool enable_navigation_mode_error_filter = 16

• optional bool enable_navigation_mode_position_update = 17

• optional bool enable_persistent_estop = 18

• optional double control_period = 19

  original config

• optional double max_planning_interval_sec = 20

• optional double max_planning_delay_threshold = 21

• optional canbus.Chassis.DrivingMode driving_mode = 22

  0 - manual; 1 - auto_drive; 2 - speed_only; 3 - steer_only

• optional DrivingAction action = 23

  0: stop, at first should stop, then receive pad msg to start

• optional double soft_estop_brake = 24

• repeated ControlConf.ControllerType active_controllers = 25

• optional int32 max_steering_percentage_allowed = 26

• optional double max_status_interval_sec = 27

• optional LatControllerConf lat_controller_conf = 28

• optional LonControllerConf lon_controller_conf = 29

• optional double trajectory_period = 30

• optional double chassis_period = 31

• optional double localization_period = 32

• optional double minimum_speed_resolution = 33

• optional MPCControllerConf mpc_controller_conf = 34

• optional double query_relative_time = 35

• optional double minimum_speed_protection = 36

• optional double max_path_remain_when_stopped = 37

• optional SimplePIDLatLonControllerConf simple_pid_lat_lon_controller_conf = 38

• optional StanleyControllerConf stanley_controller_conf = 39

• optional OpenLoopControllerConf open_loop_controller_conf = 40

Used in: ControlConf

• LAT_CONTROLLER = 0

• LON_CONTROLLER = 1

• MPC_CONTROLLER = 2

Used in: ControlCommand

• optional SimpleLongitudinalDebug simple_lon_debug = 1

• optional SimpleLateralDebug simple_lat_debug = 2

• optional InputDebug input_debug = 3

• optional SimpleMPCDebug simple_mpc_debug = 4

• optional SimplePIDLatLonDebug simple_pid_lat_lon_debug = 5

• optional StanleyDebug stanley_debug = 6

Used in: ControlConf

• STOP = 0

• START = 1

• RESET = 2

Error codes enum for API's categorized by modules.

Used in: StatusPb

• OK = 0

  No error, returns on success.

• CONTROL_ERROR = 1000

  Control module error codes start from here.

• CONTROL_INIT_ERROR = 1001

• CONTROL_COMPUTE_ERROR = 1002

• CONTROL_ESTOP_ERROR = 1003

• PERFECT_CONTROL_ERROR = 1004

• CANBUS_ERROR = 2000

  Canbus module error codes start from here.

• CAN_CLIENT_ERROR_BASE = 2100

• CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101

• CAN_CLIENT_ERROR_FRAME_NUM = 2102

• CAN_CLIENT_ERROR_SEND_FAILED = 2103

• CAN_CLIENT_ERROR_RECV_FAILED = 2104

• LOCALIZATION_ERROR = 3000

  Localization module error codes start from here.

• LOCALIZATION_ERROR_MSG = 3100

• LOCALIZATION_ERROR_LIDAR = 3200

• LOCALIZATION_ERROR_INTEG = 3300

• LOCALIZATION_ERROR_GNSS = 3400

• PERCEPTION_ERROR = 4000

  Perception module error codes start from here.

• PERCEPTION_ERROR_TF = 4001

• PERCEPTION_ERROR_PROCESS = 4002

• PERCEPTION_FATAL = 4003

• PERCEPTION_ERROR_NONE = 4004

• PERCEPTION_ERROR_UNKNOWN = 4005

• PREDICTION_ERROR = 5000

  Prediction module error codes start from here.

• PLANNING_ERROR = 6000

  Planning module error codes start from here

• PLANNING_ERROR_NOT_READY = 6001

• HDMAP_DATA_ERROR = 7000

  HDMap module error codes start from here

• ROUTING_ERROR = 8000

  Routing module error codes

• ROUTING_ERROR_REQUEST = 8001

• ROUTING_ERROR_RESPONSE = 8002

• ROUTING_ERROR_NOT_READY = 8003

• END_OF_INPUT = 9000

  Indicates an input has been exhausted.

• HTTP_LOGIC_ERROR = 10000

  HTTP request error codes.

• HTTP_RUNTIME_ERROR = 10001

• RELATIVE_MAP_ERROR = 11000

  Relative Map error codes.

  general relative map error code

• RELATIVE_MAP_NOT_READY = 11001

• DRIVER_ERROR_GNSS = 12000

  Driver error codes.

• DRIVER_ERROR_VELODYNE = 13000

• STORYTELLING_ERROR = 14000

  Storytelling error codes.

Used in: LonControllerConf

• optional int32 cutoff_freq = 1

Used in: LatControllerConf, MPCControllerConf

• repeated GainSchedulerInfo scheduler = 1

Used in: GainScheduler

• optional double speed = 1

  m/s

• optional double ratio = 2

GNSS-based localization result check (the difference between GNSS and sins result)

Used in: MsfStatus

• MSF_GNSS_CONSISTENCY_00 = 0

  The difference is less than threshold 1

• MSF_GNSS_CONSISTENCY_01 = 1

  The difference is bigger than threshold 1 but less than threshold 2

• MSF_GNSS_CONSISTENCY_02 = 2

  The difference is bigger than threshold 2

• MSF_GNSS_CONSISTENCY_03 = 3

  others

Used in: MsfStatus

• NONE = 0

  No solution

• FIXEDPOS = 1

  Position has been fixed by the FIX POSITION command or by

• FIXEDHEIGHT = 2

  position averaging

  Position has been fixed by the FIX HEIGHT, or FIX AUTO,

• FLOATCONV = 4

  command or by position averaging

  Solution from floating point carrier phase anbiguities

• WIDELANE = 5

  Solution from wide-lane ambiguities

• NARROWLANE = 6

  Solution from narrow-lane ambiguities

• DOPPLER_VELOCITY = 8

  Velocity computed using instantaneous Doppler

• SINGLE = 16

  Single point position

• PSRDIFF = 17

  Pseudorange differential solution

• WAAS = 18

  Solution calculated using corrections from an SBAS

• PROPOGATED = 19

  Propagated by a Kalman filter without new observations

• OMNISTAR = 20

  OmniSTAR VBS position

• L1_FLOAT = 32

  Floating L1 albiguity solution

• IONOFREE_FLOAT = 33

  Floating ionospheric free ambiguity solution

• NARROW_FLOAT = 34

  Floating narrow-lane anbiguity solution

• L1_INT = 48

  Integer L1 ambiguity solution

• WIDE_INT = 49

  Integer wide-lane ambiguity solution

• NARROW_INT = 50

  Integer narrow-lane ambiguity solution

• RTK_DIRECT_INS = 51

  RTK status where RTK filter is directly initialized

• INS_SBAS = 52

  from the INS filter

  INS calculated position corrected for the antenna

• INS_PSRSP = 53

  INS pseudorange single point solution - no DGPS corrections

• INS_PSRDIFF = 54

  INS pseudorange differential solution

• INS_RTKFLOAT = 55

  INS RTK float point ambiguities solution

• INS_RTKFIXED = 56

  INS RTK fixed ambiguities solution

• INS_OMNISTAR = 57

  INS OmniSTAR VBS solution

• INS_OMNISTAR_HP = 58

  INS OmniSTAR high precision solution

• INS_OMNISTAR_XP = 59

  INS OmniSTAR extra precision solution

• OMNISTAR_HP = 64

  OmniSTAR high precision

• OMNISTAR_XP = 65

  OmniSTAR extra precision

• PPP_CONVERGING = 68

  Precise Point Position(PPP) solution converging

• PPP = 69

  Precise Point Position(PPP)solution

• INS_PPP_Converging = 73

  INS NovAtel CORRECT Precise Point Position(PPP)

• INS_PPP = 74

  solution converging

  INS NovAtel CORRECT Precise Point Position(PPP) solution

• MSG_LOSS = 91

  Gnss position message loss

Used in: canbus.Chassis, ControlCommand, InputDebug, LocalizationEstimate, planning.ADCTrajectory

• optional double timestamp_sec = 1

  Message publishing time in seconds.

• optional string module_name = 2

  Module name.

• optional uint32 sequence_num = 3

  Sequence number for each message. Each module maintains its own counter for sequence_num, always starting from 1 on boot.

• optional uint64 lidar_timestamp = 4

  Lidar Sensor timestamp for nano-second.

• optional uint64 camera_timestamp = 5

  Camera Sensor timestamp for nano-second.

• optional uint64 radar_timestamp = 6

  Radar Sensor timestamp for nano-second.

• optional uint32 version = 7

  data version

• optional StatusPb status = 8

• optional string frame_id = 9

Used in: MsfSensorMsgStatus

• IMU_DATA_NORMAL = 0

• IMU_DATA_ABNORMAL = 1

• IMU_DATA_OTHER = 2

IMU msg status

Used in: MsfSensorMsgStatus

• IMU_DELAY_NORMAL = 0

• IMU_DELAY_1 = 1

• IMU_DELAY_2 = 2

• IMU_DELAY_3 = 3

• IMU_DELAY_ABNORMAL = 4

Used in: MsfSensorMsgStatus

• IMU_MISSING_NORMAL = 0

• IMU_MISSING_1 = 1

• IMU_MISSING_2 = 2

• IMU_MISSING_3 = 3

• IMU_MISSING_4 = 4

• IMU_MISSING_5 = 5

• IMU_MISSING_ABNORMAL = 6

Used in: Debug

• optional Header localization_header = 1

• optional Header canbus_header = 2

• optional Header trajectory_header = 3

• optional Header latest_replan_trajectory_header = 4

simple optimal steer control param

Used in: ControlConf

• optional double ts = 1

  sample time (dt) 0.01 now, configurable

• optional int32 preview_window = 2

  preview window n, preview time = preview window * ts

• optional double cf = 3

• optional double cr = 4

  N/rad

• optional int32 mass_fl = 5

• optional int32 mass_fr = 6

• optional int32 mass_rl = 7

• optional int32 mass_rr = 8

• optional double eps = 9

  converge threshold for lqr solver

• repeated double matrix_q = 10

  matrix_q size = 4 + preview_window

• repeated double reverse_matrix_q = 11

  matrix_q size = 4 + preview_window for reverse gear

• optional int32 cutoff_freq = 12

  cutoff frequency

• optional int32 mean_filter_window_size = 13

  window size of mean filter

• optional int32 max_iteration = 14

  for a normal car, it should be in range[16, 18]

  maximum iteration for lqr solve

• optional double max_lateral_acceleration = 15

  limit aggressive steering

• optional GainScheduler lat_err_gain_scheduler = 16

• optional GainScheduler heading_err_gain_scheduler = 17

• optional LeadlagConf reverse_leadlag_conf = 18

• optional bool enable_reverse_leadlag_compensation = 19

• optional bool enable_look_ahead_back_control = 20

• optional double lookahead_station = 21

• optional double lookback_station = 22

• optional MracConf steer_mrac_conf = 23

• optional bool enable_steer_mrac_control = 24

• optional double lookahead_station_high_speed = 25

• optional double lookback_station_high_speed = 26

• optional double matrix_r = 27

Used in: ControlCommand

• optional double total_time_ms = 1

• repeated double controller_time_ms = 2

• optional bool total_time_exceeded = 3

Used in: LatControllerConf, LonControllerConf

• optional double innerstate_saturation_level = 1

• optional double alpha = 2

• optional double beta = 3

• optional double tau = 4

LiDAR-based localization result check (the difference between lidar and sins result)

Used in: MsfStatus

• MSF_LOCAL_LIDAR_CONSISTENCY_00 = 0

  The difference is less than threshold 1

• MSF_LOCAL_LIDAR_CONSISTENCY_01 = 1

  The difference is bigger than threshold 1 but less than threshold 2

• MSF_LOCAL_LIDAR_CONSISTENCY_02 = 2

  The difference is bigger than threshold 2

• MSF_LOCAL_LIDAR_CONSISTENCY_03 = 3

  others

Used in: MsfStatus

• MSF_LOCAL_LIDAR_VERY_GOOD = 0

• MSF_LOCAL_LIDAR_GOOD = 1

• MSF_LOCAL_LIDAR_NOT_BAD = 2

• MSF_LOCAL_LIDAR_BAD = 3

LiDAR-based loclaization module status

Used in: MsfStatus

• MSF_LOCAL_LIDAR_NORMAL = 0

  Localization result satisfy threshold

• MSF_LOCAL_LIDAR_MAP_MISSING = 1

  Can't find localization map (config.xml)

• MSF_LOCAL_LIDAR_EXTRINSICS_MISSING = 2

  Missing extrinsic parameters

• MSF_LOCAL_LIDAR_MAP_LOADING_FAILED = 3

  Fail to load localization map

• MSF_LOCAL_LIDAR_NO_OUTPUT = 4

  No output (comparing to timestamp of imu msg)

• MSF_LOCAL_LIDAR_OUT_OF_MAP = 5

  Coverage of online pointcloud and map is lower than threshold

• MSF_LOCAL_LIDAR_NOT_GOOD = 6

  Localization result do not meet threshold

• MSF_LOCAL_LIDAR_UNDEFINED_STATUS = 7

  others

• optional Header header = 1

• optional Pose pose = 2

• optional Uncertainty uncertainty = 3

• optional double measurement_time = 4

  The time of pose measurement, seconds since 1970-1-1 (UNIX time).

  In seconds.

• repeated points.TrajectoryPoint trajectory_point = 5

  Future trajectory actually driven by the drivers

• optional MsfStatus msf_status = 6

  msf status

• optional MsfSensorMsgStatus sensor_status = 7

  msf quality

controller param

Used in: ControlConf

• optional double ts = 1

  longitudinal controller sampling time

• optional double brake_minimum_action = 2

• optional double throttle_minimum_action = 3

• optional double speed_controller_input_limit = 4

• optional double station_error_limit = 5

• optional double preview_window = 6

• optional double standstill_acceleration = 7

• optional PidConf station_pid_conf = 8

• optional PidConf low_speed_pid_conf = 9

• optional PidConf high_speed_pid_conf = 10

• optional double switch_speed = 11

  low/high speed controller switch speed

• optional PidConf reverse_station_pid_conf = 12

• optional PidConf reverse_speed_pid_conf = 13

• optional FilterConf pitch_angle_filter_conf = 14

• optional LeadlagConf reverse_station_leadlag_conf = 15

• optional LeadlagConf reverse_speed_leadlag_conf = 16

• optional ControlCalibrationTable calibration_table = 17

• optional bool enable_reverse_leadlag_compensation = 18

• optional double switch_speed_window = 19

  low/high speed switch transition-window

model predictive control param

Used in: ControlConf

• optional double ts = 1

  sample time (dt) 0.01 sec, configurable

• optional double cf = 2

  corner stiffness front: N/rad

• optional double cr = 3

  corner stiffness rear: N/rad

• optional int32 mass_fl = 4

  mass forward left

• optional int32 mass_fr = 5

  mass forward right

• optional int32 mass_rl = 6

  mass rear left

• optional int32 mass_rr = 7

  mass rear right

• optional double eps = 8

  converge threshold

• repeated double matrix_q = 9

  output variable (control state) weight matrix (lateral_error, lateral_error_rate, heading_error, heading_error_rate, station_error, speed_error)

• repeated double matrix_r = 10

  manipulated variable weight matrix (steer, acceleration)

• optional int32 cutoff_freq = 11

  cutoff frequency

• optional int32 mean_filter_window_size = 12

  window size of mean filter

• optional int32 max_iteration = 13

  for a normal car, it should be in range[16, 18]

  maximum iteration for lqr solve

• optional double max_lateral_acceleration = 14

  limit aggressive steering

• optional double standstill_acceleration = 15

• optional double brake_minimum_action = 16

• optional double throttle_minimum_action = 17

• optional GainScheduler lat_err_gain_scheduler = 18

• optional GainScheduler heading_err_gain_scheduler = 19

• optional GainScheduler steer_weight_gain_scheduler = 20

• optional GainScheduler feedforwardterm_gain_scheduler = 21

• optional ControlCalibrationTable calibration_table = 22

• optional bool enable_mpc_feedforward_compensation = 23

• optional double unconstrained_control_diff_limit = 24

Used in: MracDebug

• repeated double state_adaptive_gain = 1

• repeated double input_adaptive_gain = 2

• repeated double nonlinear_adaptive_gain = 3

Used in: LatControllerConf

• optional int32 mrac_model_order = 1

• optional double reference_time_constant = 2

• optional double reference_natural_frequency = 3

• optional double reference_damping_ratio = 4

• repeated double adaption_state_gain = 5

  state gain size must be not higher than the mrac_model_order

• optional double adaption_desired_gain = 6

• optional double adaption_nonlinear_gain = 7

• repeated double adaption_matrix_p = 8

  adaption matrix size must match the model matrix size based on mrac_model_order

• optional double mrac_saturation_level = 9

• repeated double anti_windup_compensation_gain = 10

  compensation gain size must be not higher than the mrac_model_order

• optional double clamping_time_constant = 11

Used in: SimpleLateralDebug

• optional int32 mrac_model_order = 1

• repeated double mrac_reference_state = 2

• repeated double mrac_state_error = 3

• optional MracAdaptiveGain mrac_adaptive_gain = 4

• optional int32 mrac_reference_saturation_status = 5

• optional int32 mrac_control_saturation_status = 6

The running status of localization module

Used in: MsfStatus

• MSF_SOL_LIDAR_GNSS = 0

• MSF_SOL_X_GNSS = 1

• MSF_SOL_LIDAR_X = 2

• MSF_SOL_LIDAR_XX = 3

• MSF_SOL_LIDAR_XXX = 4

• MSF_SOL_X_X = 5

• MSF_SOL_X_XX = 6

• MSF_SOL_X_XXX = 7

• MSF_SSOL_LIDAR_GNSS = 8

• MSF_SSOL_X_GNSS = 9

• MSF_SSOL_LIDAR_X = 10

• MSF_SSOL_LIDAR_XX = 11

• MSF_SSOL_LIDAR_XXX = 12

• MSF_SSOL_X_X = 13

• MSF_SSOL_X_XX = 14

• MSF_SSOL_X_XXX = 15

• MSF_NOSOL_LIDAR_GNSS = 16

• MSF_NOSOL_X_GNSS = 17

• MSF_NOSOL_LIDAR_X = 18

• MSF_NOSOL_LIDAR_XX = 19

• MSF_NOSOL_LIDAR_XXX = 20

• MSF_NOSOL_X_X = 21

• MSF_NOSOL_X_XX = 22

• MSF_NOSOL_X_XXX = 23

• MSF_RUNNING_INIT = 24

The status of sensor msg

Used in: LocalizationEstimate

• optional ImuMsgDelayStatus imu_delay_status = 1

• optional ImuMsgMissingStatus imu_missing_status = 2

• optional ImuMsgDataStatus imu_data_status = 3

The status of msf localization module

Used in: LocalizationEstimate

• optional LocalLidarConsistency local_lidar_consistency = 1

• optional GnssConsistency gnss_consistency = 2

• optional LocalLidarStatus local_lidar_status = 3

• optional LocalLidarQuality local_lidar_quality = 4

• optional GnssPositionType gnsspos_position_type = 5

• optional MsfRunningStatus msf_running_status = 6

Used in: ControlConf

• optional double speed_controller_input_limit = 1

• optional double k = 2

Used in: LonControllerConf, SimplePIDLatLonControllerConf, StanleyControllerConf

• optional bool integrator_enable = 1

• optional double integrator_saturation_level = 2

• optional double kp = 3

• optional double ki = 4

• optional double kd = 5

• optional double kaw = 6

• optional double output_saturation_level = 7

Used in: LocalizationEstimate, vehicle_state.VehicleState

• optional geometry.PointENU position = 1

  Position of the vehicle reference point (VRP) in the map reference frame. The VRP is the center of rear axle.

• optional geometry.Quaternion orientation = 2

  A quaternion that represents the rotation from the IMU coordinate (Right/Forward/Up) to the world coordinate (East/North/Up).

• optional geometry.Point3D linear_velocity = 3

  Linear velocity of the VRP in the map reference frame. East/north/up in meters per second.

• optional geometry.Point3D linear_acceleration = 4

  Linear acceleration of the VRP in the map reference frame. East/north/up in meters per square second.

• optional geometry.Point3D angular_velocity = 5

  Angular velocity of the vehicle in the map reference frame. Around east/north/up axes in radians per second.

• optional double heading = 6

  Heading The heading is zero when the car is facing East and positive when facing North.

• optional geometry.Point3D linear_acceleration_vrf = 7

  Linear acceleration of the VRP in the vehicle reference frame. Right/forward/up in meters per square second.

• optional geometry.Point3D angular_velocity_vrf = 8

  Angular velocity of the VRP in the vehicle reference frame. Around right/forward/up axes in radians per second.

• optional geometry.Point3D euler_angles = 9

  Roll/pitch/yaw that represents a rotation with intrinsic sequence z-x-y. in world coordinate (East/North/Up) The roll, in (-pi/2, pi/2), corresponds to a rotation around the y-axis. The pitch, in [-pi, pi), corresponds to a rotation around the x-axis. The yaw, in [-pi, pi), corresponds to a rotation around the z-axis. The direction of rotation follows the right-hand rule.

Used in: Debug

• optional double lateral_error = 1

• optional double ref_heading = 2

• optional double heading = 3

• optional double heading_error = 4

• optional double heading_error_rate = 5

• optional double lateral_error_rate = 6

• optional double curvature = 7

• optional double steer_angle = 8

• optional double steer_angle_feedforward = 9

• optional double steer_angle_lateral_contribution = 10

• optional double steer_angle_lateral_rate_contribution = 11

• optional double steer_angle_heading_contribution = 12

• optional double steer_angle_heading_rate_contribution = 13

• optional double steer_angle_feedback = 14

• optional double steering_position = 15

• optional double ref_speed = 16

• optional double steer_angle_limited = 17

• optional double lateral_acceleration = 18

  time derivative of lateral error rate, in m/s^2

• optional double lateral_jerk = 19

  second time derivative of lateral error rate, in m/s^3

• optional double ref_heading_rate = 20

• optional double heading_rate = 21

• optional double ref_heading_acceleration = 22

  heading_acceleration, as known as yaw acceleration, is the time derivative of heading rate, in rad/s^2

• optional double heading_acceleration = 23

• optional double heading_error_acceleration = 24

• optional double ref_heading_jerk = 25

  heading_jerk, as known as yaw jerk, is the second time derivative of heading rate, in rad/s^3

• optional double heading_jerk = 26

• optional double heading_error_jerk = 27

• optional double lateral_error_feedback = 28

  modified lateral_error and heading_error with look-ahead or look-back station, as the feedback term for control usage

• optional double heading_error_feedback = 29

• optional points.TrajectoryPoint current_target_point = 30

  current planning target point

• optional double steer_angle_feedback_augment = 31

  Augmented feedback control term in addition to LQR control

• optional MracDebug steer_mrac_debug = 32

  Mrac control status and feedback states for steer control

• optional bool steer_mrac_enable_status = 33

Used in: Debug

• optional double station_reference = 1

• optional double station_error = 2

• optional double station_error_limited = 3

• optional double preview_station_error = 4

• optional double speed_reference = 5

• optional double speed_error = 6

• optional double speed_controller_input_limited = 7

• optional double preview_speed_reference = 8

• optional double preview_speed_error = 9

• optional double preview_acceleration_reference = 10

• optional double acceleration_cmd_closeloop = 11

• optional double acceleration_cmd = 12

• optional double acceleration_lookup = 13

• optional double speed_lookup = 14

• optional double calibration_value = 15

• optional double throttle_cmd = 16

• optional double brake_cmd = 17

• optional bool is_full_stop = 18

• optional double slope_offset_compensation = 19

• optional double current_station = 20

• optional double path_remain = 21

• optional int32 pid_saturation_status = 22

• optional int32 leadlag_saturation_status = 23

• optional double speed_offset = 24

• optional double current_speed = 25

• optional double acceleration_reference = 26

• optional double current_acceleration = 27

• optional double acceleration_error = 28

• optional double jerk_reference = 29

• optional double current_jerk = 30

• optional double jerk_error = 31

• optional points.TrajectoryPoint current_matched_point = 32

• optional points.TrajectoryPoint current_reference_point = 33

• optional points.TrajectoryPoint preview_reference_point = 34

Used in: Debug

• optional double lateral_error = 1

• optional double ref_heading = 2

• optional double heading = 3

• optional double heading_error = 4

• optional double heading_error_rate = 5

• optional double lateral_error_rate = 6

• optional double curvature = 7

• optional double steer_angle = 8

• optional double steer_angle_feedforward = 9

• optional double steer_angle_lateral_contribution = 10

• optional double steer_angle_lateral_rate_contribution = 11

• optional double steer_angle_heading_contribution = 12

• optional double steer_angle_heading_rate_contribution = 13

• optional double steer_angle_feedback = 14

• optional double steering_position = 15

• optional double ref_speed = 16

• optional double steer_angle_limited = 17

• optional double station_reference = 18

• optional double station_error = 19

• optional double speed_reference = 20

• optional double speed_error = 21

• optional double acceleration_reference = 22

• optional bool is_full_stop = 23

• optional double station_feedback = 24

• optional double speed_feedback = 25

• optional double acceleration_cmd_closeloop = 26

• optional double acceleration_cmd = 27

• optional double acceleration_lookup = 28

• optional double speed_lookup = 29

• optional double calibration_value = 30

• optional double steer_unconstrained_control_diff = 31

• optional double steer_angle_feedforward_compensation = 32

• repeated double matrix_q_updated = 33

  matrix_q_updated_ size = 6

• repeated double matrix_r_updated = 34

  matrix_r_updated_ size = 2

• optional double lateral_acceleration = 35

  time derivative of lateral error rate, in m/s^2

• optional double lateral_jerk = 36

  second time derivative of lateral error rate, in m/s^3

• optional double ref_heading_rate = 37

• optional double heading_rate = 38

• optional double ref_heading_acceleration = 39

  heading_acceleration, as known as yaw acceleration, is the time derivative of heading rate, in rad/s^2

• optional double heading_acceleration = 40

• optional double heading_error_acceleration = 41

• optional double ref_heading_jerk = 42

  heading_jerk, as known as yaw jerk, is the second time derivative of heading rate, in rad/s^3

• optional double heading_jerk = 43

• optional double heading_error_jerk = 44

• optional double acceleration_feedback = 45

• optional double acceleration_error = 46

• optional double jerk_reference = 47

• optional double jerk_feedback = 48

• optional double jerk_error = 49

Used in: ControlConf

• optional double look_ahead_distance = 1

  Look ahead distance

• optional double d = 2

  distance close to a target point

• optional PidConf station_pid_conf = 3

• optional PidConf yaw_pid_conf = 4

• optional double dt = 5

• optional double speed_controller_input_limit = 6

• optional double cutoff_freq = 7

• optional double mean_filter_window_size = 8

Used in: Debug

• optional double look_ahead_station = 1

• optional double station_error = 2

• optional double current_speed = 3

• optional double current_heading = 4

• optional double heading_error = 5

• optional double current_steer_wheel_angle = 6

• optional double speed_cmd = 7

• optional double steer_angle_cmd = 8

• optional points.TrajectoryPoint target_point = 9

Used in: ControlConf

• optional PidConf station_pid_conf = 1

• optional double dt = 2

• optional double speed_controller_input_limit = 3

• optional double cutoff_freq = 4

• optional double mean_filter_window_size = 5

• optional double k = 6

Used in: Debug

• optional double station_error = 1

• optional double lateral_error = 2

• optional double current_speed = 3

• optional double current_heading = 4

• optional double heading_error = 5

• optional double current_steer_wheel_angle = 6

• optional double speed_cmd = 7

• optional double steer_angle_cmd = 8

• optional points.TrajectoryPoint target_point = 9

• optional points.PathPoint matched_point = 10

Used in: Header

• optional ErrorCode error_code = 1

• optional string msg = 2

Used in: ControlCommand

• TURN_NONE = 0

• TURN_LEFT = 1

• TURN_RIGHT = 2

Used in: LocalizationEstimate

• optional geometry.Point3D position_std_dev = 1

  Standard deviation of position, east/north/up in meters.

• optional geometry.Point3D orientation_std_dev = 2

  Standard deviation of quaternion qx/qy/qz, unitless.

• optional geometry.Point3D linear_velocity_std_dev = 3

  Standard deviation of linear velocity, east/north/up in meters per second.

• optional geometry.Point3D linear_acceleration_std_dev = 4

  Standard deviation of linear acceleration, right/forward/up in meters per square second.

• optional geometry.Point3D angular_velocity_std_dev = 5

  Standard deviation of angular velocity, right/forward/up in radians per second.