Leon-Redfield comments

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                                            Leon-Redfield

How to tune the PID parameter?

Hi! For the first problem, the PID parameters of the drone is at : [> src/Ctrl/config/ctrl_param_fpv.yaml](https://github.com/ZJU-FAST-Lab/Fast-Racing/blob/main/src/Ctrl/config/ctrl_param_fpv.yaml) For the second problem, the map size is fixed after the Airsim map has...

How to tune the PID parameter?

> > Hi! For the first problem, the PID parameters of the drone is at : [> src/Ctrl/config/ctrl_param_fpv.yaml](https://github.com/ZJU-FAST-Lab/Fast-Racing/blob/main/src/Ctrl/config/ctrl_param_fpv.yaml) For the second problem, the map size is fixed after the Airsim...

Clock speed doesn't work, timestamp is not synchronous

> Hello, How did you get around this problem? @Leon-Redfield Sorry but I didn't solve this problem.

I read the SD-VD section of your paper, but I can't find this condition of k △ s ≤ S in the code. Can you provide this condition to judge the position in the code?

In the kinoastar.cpp file, line 510, you will see that `cur_node->number < 20` which means that k equals to 20.

Collision of path after optimization

This is a little complicated to predict where the problem is. I recommend visualizing the safe driving corridors to see if the corridors are normal.

补充readme

Thank you for your advice! More details about your advice will be updated.