Add gain scheduler gflag (#580)

modules/control/common/control_gflags.cc

@@ -46,3 +46,5 @@ DEFINE_double(max_abs_speed_when_stopped, 0.01,
               "max absolute speed can be observed when vehicle is stopped");
 DEFINE_double(steer_angle_rate, 100.0,
               "Steer angle change rate in percentage.");
+DEFINE_bool(enable_gain_scheduler, false,
+            "Enable gain scheduler for higher vechile speed");

modules/control/common/control_gflags.h

@@ -46,5 +46,6 @@ DECLARE_double(max_acceleration_when_stopped);
 DECLARE_double(max_abs_speed_when_stopped);
 
 DECLARE_double(steer_angle_rate);
+DECLARE_bool(enable_gain_scheduler);
 
 #endif  // MODULES_CONTROL_COMMON_CONTROL_GFLAGS_H_

modules/control/conf/control.conf

@@ -7,3 +7,4 @@
 --noenable_control_watchdog
 --v=3
 --nouse_preview_speed_for_table
+--noenable_gain_scheduler