pid_scheduler:
  ros__parameters:
    # Base PID gains
    base_kp: 1.0
    base_ki: 0.1
    base_kd: 0.05

    # Gain scheduling parameters
    # P gain increases by this factor * terrain_roughness
    kp_terrain_scale: 0.5

    # D gain scale: -1 means full reduction at zero speed
    kd_speed_scale: -0.3

    # I gain modulation factor
    ki_scale: 0.1
