# PID auto-tuner configuration (Astrom-Hagglund relay method)

pid_autotune:
  ros__parameters:
    # Relay magnitude for oscillation (m/s for balance control)
    relay_magnitude: 0.3

    # Safety: abort if robot tilt exceeds this angle (degrees)
    tilt_safety_limit: 25.0

    # Maximum duration for entire tuning process (seconds)
    max_tune_duration: 120.0

    # Number of complete oscillation cycles to measure
    oscillation_count: 5

    # Time to allow system to settle before starting relay (seconds)
    settle_time: 2.0

    # JLink serial port for sending computed gains to FC (Issue #531)
    # USART1 on FC maps to this ttyTHS device on Jetson Orin
    jlink_serial_port: "/dev/ttyTHS0"
    jlink_baud_rate: 921600
