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feat(controls): PID auto-tune — relay feedback method for balance controller gains #213

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opened 2026-03-02 11:45:03 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:45:03 -05:00
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Single ROS2 node. Implements relay feedback (Astrom-Hagglund) auto-tune. Service /saltybot/autotune_pid (Trigger) starts relay oscillation on balance axis, measures ultimate gain Ku and period Tu, computes Ziegler-Nichols PD gains, publishes result on /saltybot/autotune_result (JSON). Safety: abort if tilt >25deg. Include unit tests.

Single ROS2 node. Implements relay feedback (Astrom-Hagglund) auto-tune. Service /saltybot/autotune_pid (Trigger) starts relay oscillation on balance axis, measures ultimate gain Ku and period Tu, computes Ziegler-Nichols PD gains, publishes result on /saltybot/autotune_result (JSON). Safety: abort if tilt >25deg. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#213
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