Control: re-name some mrac control parameters for clarity

modules/control/common/mrac_controller.cc

@@ -138,7 +138,7 @@ void MracController::Init(const MracConf &mrac_conf, const double dt) {
   // Initialize the saturation limits
   bound_ratio_ = mrac_conf.mrac_saturation_level();
   // Initialize the common model parameters
-  model_order_ = mrac_conf.mrac_reference_order();
+  model_order_ = mrac_conf.mrac_model_order();
   // Initialize the system states
   input_desired_ = Matrix::Zero(1, 2);
   state_action_ = Matrix::Zero(model_order_, 2);

modules/control/common/mrac_controller_test.cc

@@ -47,7 +47,7 @@ class MracControllerTest : public ::testing::Test {
 TEST_F(MracControllerTest, MracControl) {
   double dt = 0.01;
   Matrix state = Matrix::Zero(1, 1);
-  MracConf mrac_conf = lat_controller_conf_.actuation_mrac_conf();
+  MracConf mrac_conf = lat_controller_conf_.steer_mrac_conf();
   MracController mrac_controller;
   mrac_controller.Init(mrac_conf, dt);
   mrac_controller.Reset();
@@ -103,7 +103,7 @@ TEST_F(MracControllerTest, MracControl) {
 // equation
 TEST_F(MracControllerTest, CheckLyapunovPD) {
   double dt = 0.01;
-  MracConf mrac_conf = lat_controller_conf_.actuation_mrac_conf();
+  MracConf mrac_conf = lat_controller_conf_.steer_mrac_conf();
   MracController mrac_controller;
   mrac_controller.Init(mrac_conf, dt);
   // test on 1st order adaption dynamics

modules/control/conf/control_conf.pb.txt

@@ -51,7 +51,7 @@ lat_controller_conf {
   max_iteration: 150
   max_lateral_acceleration: 5.0
   enable_reverse_leadlag_compensation: true
-  enable_actuation_mrac_control: false
+  enable_steer_mrac_control: false
   enable_look_ahead_back_control: true
   lookahead_station: 1.4224
   lookback_station: 2.8448
@@ -105,8 +105,8 @@ lat_controller_conf {
     beta: 1.0
     tau: 0.0
   }
-  actuation_mrac_conf {
-    mrac_reference_order: 1
+  steer_mrac_conf {
+    mrac_model_order: 1
     reference_time_constant: 0.01
     reference_natural_frequency: 10
     reference_damping_ratio: 0.9

modules/control/controller/lat_controller.cc

@@ -246,9 +246,9 @@ Status LatController::Init(const ControlConf *control_conf) {
   }
 
   bool enable_mrac =
-      control_conf_->lat_controller_conf().enable_actuation_mrac_control();
+      control_conf_->lat_controller_conf().enable_steer_mrac_control();
   if (enable_mrac) {
-    mrac_controller_.Init(lat_controller_conf.actuation_mrac_conf(), ts_);
+    mrac_controller_.Init(lat_controller_conf.steer_mrac_conf(), ts_);
   }
 
   return Status::OK();
@@ -492,11 +492,11 @@ Status LatController::ComputeControlCommand(
   // Re-compute the steering command if the MRAC control is enabled, with steer
   // angle limitation and steer rate limitation
   bool enable_mrac =
-      control_conf_->lat_controller_conf().enable_actuation_mrac_control();
+      control_conf_->lat_controller_conf().enable_steer_mrac_control();
   if (enable_mrac) {
     const int mrac_model_order = control_conf_->lat_controller_conf()
-                                     .actuation_mrac_conf()
-                                     .mrac_reference_order();
+                                     .steer_mrac_conf()
+                                     .mrac_model_order();
     Matrix steer_state = Matrix::Zero(mrac_model_order, 1);
     steer_state(0, 0) = chassis->steering_percentage();
     if (mrac_model_order > 1) {

modules/control/proto/lat_controller_conf.proto

@@ -32,6 +32,6 @@ message LatControllerConf {
   optional bool enable_look_ahead_back_control = 20 [default = false];
   optional double lookahead_station = 21 [default = 0.0];
   optional double lookback_station = 22 [default = 0.0];
-  optional MracConf actuation_mrac_conf = 23;
-  optional bool enable_actuation_mrac_control = 24 [default = false];
+  optional MracConf steer_mrac_conf = 23;
+  optional bool enable_steer_mrac_control = 24 [default = false];
 }

modules/control/proto/mrac_conf.proto

@@ -3,17 +3,17 @@ syntax = "proto2";
 package apollo.control;
 
 message MracConf {
-  optional int32 mrac_reference_order = 1 [default = 1];
+  optional int32 mrac_model_order = 1 [default = 1];
   optional double reference_time_constant = 2;
   optional double reference_natural_frequency = 3;
   optional double reference_damping_ratio = 4;
-  // state gain size must be not higher than the mrac_reference_order
+  // state gain size must be not higher than the mrac_model_order
   repeated double adaption_state_gain = 5;
   optional double adaption_desired_gain = 6;
   optional double adaption_nonlinear_gain = 7;
-  // adaption matrix size must match the model matrix size based on mrac_reference_order
+  // adaption matrix size must match the model matrix size based on mrac_model_order
   repeated double adaption_matrix_p = 8;
   optional double mrac_saturation_level = 9 [default = 1.0];
-  // compensation gain size must be not higher than the mrac_reference_order
+  // compensation gain size must be not higher than the mrac_model_order
   repeated double anti_windup_compensation_gain = 10;
 }

modules/control/testdata/conf/control_conf.pb.txt

@@ -93,9 +93,9 @@ lat_controller_conf {
       ratio: 0.4
     }
   }
-  enable_actuation_mrac_control: true
-  actuation_mrac_conf {
-    mrac_reference_order: 1
+  enable_steer_mrac_control: true
+  steer_mrac_conf {
+    mrac_model_order: 1
     reference_time_constant: 0.01
     reference_natural_frequency: 10
     reference_damping_ratio: 0.9