{"action":"opened","issue":{"url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3515","repository_url":"https://api.github.com/repos/ApolloAuto/apollo","labels_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3515/labels{/name}","comments_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3515/comments","events_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/3515/events","html_url":"https://github.com/ApolloAuto/apollo/issues/3515","id":307136413,"number":3515,"title":"Question about control conf","user":{"login":"silverland79","id":30067724,"avatar_url":"https://avatars2.githubusercontent.com/u/30067724?v=4","gravatar_id":"","url":"https://api.github.com/users/silverland79","html_url":"https://github.com/silverland79","followers_url":"https://api.github.com/users/silverland79/followers","following_url":"https://api.github.com/users/silverland79/following{/other_user}","gists_url":"https://api.github.com/users/silverland79/gists{/gist_id}","starred_url":"https://api.github.com/users/silverland79/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/silverland79/subscriptions","organizations_url":"https://api.github.com/users/silverland79/orgs","repos_url":"https://api.github.com/users/silverland79/repos","events_url":"https://api.github.com/users/silverland79/events{/privacy}","received_events_url":"https://api.github.com/users/silverland79/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-03-21T06:57:21Z","updated_at":"2018-03-21T06:57:21Z","closed_at":null,"author_association":"NONE","body":"hi:\r\nI have some question about module of control,lincoln.pb.txt.\r\nWhat are the preview_window's parameters  like cf,cr,mass_fl... ?\r\nPlease explain the meaning of these parameters,thank you very much.\r\nlat_controller_conf {\r\n  ts: 0.01\r\n  preview_window: 0\r\n  cf: 155494.663\r\n  cr: 155494.663\r\n  wheelbase: 2.85\r\n  mass_fl: 520\r\n  mass_fr: 520\r\n  mass_rl: 520\r\n  mass_rr: 520\r\n  eps: 0.01\r\n  matrix_q: 0.05\r\n  matrix_q: 0.0\r\n  matrix_q: 1.0\r\n  matrix_q: 0.0\r\n  cutoff_freq: 10\r\n  mean_filter_window_size: 10\r\n  steer_transmission_ratio: 16\r\n  steer_single_direction_max_degree: 470\r\n  max_iteration: 150\r\n}\r\nlon_controller_conf {\r\n  ts: 0.01\r\n  brake_deadzone: 15.5\r\n  throttle_deadzone: 18.0\r\n  speed_controller_input_limit: 2.0\r\n  station_error_limit: 2.0\r\n  preview_window: 20.0\r\n  standstill_acceleration: -3.0\r\n  station_pid_conf {\r\n    integrator_enable: false\r\n    integrator_saturation_level: 0.3\r\n    kp: 0.2\r\n    ki: 0.0\r\n    kd: 0.0\r\n  }"}}
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