From f27e88ca78fa743b8b7756f6e4f02f4681cb6be6 Mon Sep 17 00:00:00 2001
From: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
Date: Wed, 22 May 2024 18:45:03 +0900
Subject: [PATCH] chore(dual_return_filter): tuning for visibility diag

---
 aip_x2_launch/config/dual_return_filter.param.yaml | 4 +++-
 aip_x2_launch/launch/lidar.launch.xml              | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml
index dd68e5ec..3c89faa2 100644
--- a/aip_x2_launch/config/dual_return_filter.param.yaml
+++ b/aip_x2_launch/config/dual_return_filter.param.yaml
@@ -4,7 +4,9 @@
     weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
     visibility_error_threshold: 0.95
     visibility_warn_threshold: 0.97
-    max_distance: 5.0
+    min_azimuth_deg: 100.0
+    max_azimuth_deg: 260.0
+    max_distance: 10.0
     x_max: 18.0
     x_min: -12.0
     y_max: 2.0
diff --git a/aip_x2_launch/launch/lidar.launch.xml b/aip_x2_launch/launch/lidar.launch.xml
index 971d963b..6968b7f2 100644
--- a/aip_x2_launch/launch/lidar.launch.xml
+++ b/aip_x2_launch/launch/lidar.launch.xml
@@ -81,7 +81,7 @@
         <arg name="is_channel_order_top2down" value="true"/>
         <arg name="horizontal_resolution" value="0.4"/>
         <arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
-        <arg name="return_mode" value="Strongest" />
+        <arg name="return_mode" value="Dual" />
         <arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/left_upper.csv" />
         <arg name="launch_driver" value="$(var launch_driver)" />
         <arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />