ts: 0.01
epb_brake_cmd: 60
slope_offset_threhold: 0.5
path_remain_threshold: 0.5
new_dest_path_remain_threshold: 5.0
use_opposite_slope_compensation: 1
enable_slope_offset: true
hill_start_pitch_threshold: -2.0
hill_start_preview_window: 300
hill_start_min_speed: 0.1
hill_start_acc_window: 200
hill_start_brake_window: 150
gravity_hill_start_gain: 0.9
enable_hill_start: true
min_hill_start_station_remain: 1.0
hill_start_quit_window: 250
hill_start_still_speed: 0.01
downhill_brake_rate: 0.18
cut_hill_up_throttle_speed: -0.15
cut_hill_up_throttle_rate: 0.05
hill_up_acc_rate: 0.7
hill_start_brake_standby_window: 75
kill_downhill_brake_rate: 0.5
downhill_cut_brake_v_err: 0.2
quit_hill_start_v_err: -0.2
release_end_brake_speed: 0.1
uphill_start_pitch: 1.0
normal_start_pitch: 100.0
normal_start_gain_window: 50
normal_start_maintain_window: 200
normal_acc_rate: 0.8

obstacle_speed_safety_threshold: 0.05
obstacle_acc_threshold: 0.05
obstacle_stop_window_threshold: 50
quit_opbstacle_window: 500
obstacle_throttle_cmd_threshold: 10.0
obstacle_brake_cmd_threshold: 5.0
in_obstacle_preview_speed: 0.5
obs_throttle_add_rate: 1.0
obs_throttle_add_default: 45.0
min_throttle_time_window: 80
quit_opbstacle_safety_high_speed: 0.1
speed_stable_window: 20
speed_stable: 0.05

uphill_fullstop_pathremain: 0.2
uphill_fullstop_window: 75

downhill_brake_change: 0.1

cncl_brake_min_path: 0.2
cncl_brake_max_path: 1.2
cncl_max_brake: 10.0
maintain_min_speed: 1.0
cut_unusual_brk_speed_error: -0.4

downhill_brake_change_max: 0.1

brake_minimum_action:4.0

slope_pitch_acc_gain_scheduler {
  pitch_scheduler {
    pitch: -10.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: -6.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: -3.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: -1.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: -0.4
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 0.0
    ratio: 0.0
  }
  pitch_scheduler {
    pitch: 0.2
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 1.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 3.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 6.0
    ratio: 1.0
  }
  pitch_scheduler {
    pitch: 10.0
    ratio: 1.0
  }
}
pitch_angle_filter_conf {
  cutoff_freq: 5
}