saltylab-firmware

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Author	SHA1	Message	Date
sl-controls	be4966b01d	feat: Tilt compensation for slopes (Issue #600 ) Adds a slow-adapting terrain slope estimator (IIR tau=5s) that decouples the robot's balance offset from genuine ground incline. The balance controller subtracts the slope estimate from measured pitch so the PID balances around the slope surface rather than absolute vertical. - include/slope_estimator.h + src/slope_estimator.c: first-order IIR filter clamped to ±15°; JLINK_TLM_SLOPE (0x88) telemetry at 1 Hz - include/jlink.h + src/jlink.c: add JLINK_TLM_SLOPE (0x88), jlink_tlm_slope_t (4 bytes), jlink_send_slope_tlm() - include/balance.h + src/balance.c: integrate slope_estimator into balance_t; update, reset on tilt-fault and disarm - test/test_slope_estimator.c: 35 unit tests, all passing Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-03-14 15:07:05 -04:00
sl-controls	398cbb9a55	feat(imu): MPU6000 sensor fusion with complementary filter Add src/mpu6000.c implementing a complementary filter (α=0.98) on top of the existing icm42688 SPI driver. Fixes wrong scale factors in balance.c (was ±250°/s / ±2g; hardware is configured ±2000°/s / ±16g). Fusion now lives in the IMU driver layer; balance_update() consumes IMUData directly. - mpu6000_init(): calls icm42688_init(), seeds filter state - mpu6000_read(): reads raw SPI, applies complementary filter, returns fused pitch (degrees) + pitch_rate (°/s) + accel_x/z (g) - balance.c: removes duplicated fusion code, uses IMUData.pitch - main.c: switches to mpu6000_init()/mpu6000_read(), updates telemetry Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-02-28 13:09:18 -05:00
Sebastien Vayrette	ba3e1161b9	Balance firmware + USB CDC bug	2026-02-28 11:58:23 -05:00

Author

SHA1

Message

Date

sl-controls

be4966b01d

feat: Tilt compensation for slopes (Issue #600 )

Adds a slow-adapting terrain slope estimator (IIR tau=5s) that decouples
the robot's balance offset from genuine ground incline.  The balance
controller subtracts the slope estimate from measured pitch so the PID
balances around the slope surface rather than absolute vertical.

- include/slope_estimator.h + src/slope_estimator.c: first-order IIR
  filter clamped to ±15°; JLINK_TLM_SLOPE (0x88) telemetry at 1 Hz
- include/jlink.h + src/jlink.c: add JLINK_TLM_SLOPE (0x88),
  jlink_tlm_slope_t (4 bytes), jlink_send_slope_tlm()
- include/balance.h + src/balance.c: integrate slope_estimator into
  balance_t; update, reset on tilt-fault and disarm
- test/test_slope_estimator.c: 35 unit tests, all passing

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-14 15:07:05 -04:00

sl-controls

398cbb9a55

feat(imu): MPU6000 sensor fusion with complementary filter

Add src/mpu6000.c implementing a complementary filter (α=0.98) on top of
the existing icm42688 SPI driver. Fixes wrong scale factors in balance.c
(was ±250°/s / ±2g; hardware is configured ±2000°/s / ±16g). Fusion now
lives in the IMU driver layer; balance_update() consumes IMUData directly.

- mpu6000_init(): calls icm42688_init(), seeds filter state
- mpu6000_read(): reads raw SPI, applies complementary filter, returns
  fused pitch (degrees) + pitch_rate (°/s) + accel_x/z (g)
- balance.c: removes duplicated fusion code, uses IMUData.pitch
- main.c: switches to mpu6000_init()/mpu6000_read(), updates telemetry

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-02-28 13:09:18 -05:00

Sebastien Vayrette

ba3e1161b9

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

3 Commits