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[P1] PID auto-tune — automated loop tuning for balance mode #531

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opened 2026-03-07 09:25:43 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-07 09:25:43 -05:00
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Implement automated PID tuning for self-balancing control loop on STM32. Ziegler-Nichols or relay-feedback method. Store tuned gains in flash. Trigger via UART T command. Safety: tilt limit active during tuning. Log data over USART. Default conservative gains if no tune data.

Implement automated PID tuning for self-balancing control loop on STM32. Ziegler-Nichols or relay-feedback method. Store tuned gains in flash. Trigger via UART T command. Safety: tilt limit active during tuning. Log data over USART. Default conservative gains if no tune data.
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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#531
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