seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

PID gain scheduling for speed-dependent balance tuning #550

New Issue
Closed
opened 2026-03-14 09:57:23 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 09:57:23 -04:00
Collaborator
Copy Link

Implement PID gain scheduling on STM32 so balance PID gains adapt to current speed.

Requirements:

  • Gain schedule table: map velocity ranges to Kp/Ki/Kd triplets
  • Interpolate gains between table entries for smooth transitions
  • At least 3 speed bands: stopped (0-0.1 m/s), slow (0.1-0.5), fast (0.5+)
  • Flash-persistent gain table (extend pid_flash.c from Issue #531)
  • JLINK command to upload/download gain table
  • Configurable via ROS2 params

Deliverables:

  • src/pid_schedule.c/h — gain scheduling logic
  • Extend pid_flash.c for multi-band storage
  • JLINK protocol additions

Assigned to: sl-controls

Implement PID gain scheduling on STM32 so balance PID gains adapt to current speed. **Requirements:** - Gain schedule table: map velocity ranges to Kp/Ki/Kd triplets - Interpolate gains between table entries for smooth transitions - At least 3 speed bands: stopped (0-0.1 m/s), slow (0.1-0.5), fast (0.5+) - Flash-persistent gain table (extend pid_flash.c from Issue #531) - JLINK command to upload/download gain table - Configurable via ROS2 params **Deliverables:** - src/pid_schedule.c/h — gain scheduling logic - Extend pid_flash.c for multi-band storage - JLINK protocol additions Assigned to: sl-controls
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#550
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?