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feat: PID gain scheduling for speed-dependent balance (Issue #550) #560

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sl-jetson merged 1 commits from sl-controls/issue-550-pid-scheduling into main 2026-03-14 12:13:44 -04:00
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sl-jetson commented 2026-03-14 10:42:55 -04:00
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Implements speed-dependent PID gain scheduling. 48/48 unit tests passing.

Implements speed-dependent PID gain scheduling. 48/48 unit tests passing.
sl-jetson added 1 commit 2026-03-14 10:42:55 -04:00 
Implements a speed-dependent PID gain scheduler that interpolates Kp/Ki/Kd
across a configurable table of velocity breakpoints, replacing the fixed
single-gain PID used previously.

Changes:
- include/pid_flash.h: add pid_sched_entry_t (16-byte entry), pid_sched_flash_t
  (128-byte record at 0x0807FF40), pid_flash_load_schedule(), pid_flash_save_all()
  (atomic single-sector erase for both schedule and single-PID records)
- src/pid_flash.c: implement load_schedule and save_all; single erase covers
  both records at 0x0807FF40 (schedule) and 0x0807FFC0 (single PID)
- include/pid_schedule.h: API header -- init, get_gains, apply, set/get table,
  flash_save, active_band_idx, get_default_table
- src/pid_schedule.c: linear interpolation between sorted speed-band entries;
  integrator reset on band transition; default 3-band table (0/0.3/0.8 m/s)
- include/jlink.h: add SCHED_GET (0x0C), SCHED_SET (0x0D), SCHED_SAVE (0x0E)
  commands; TLM_SCHED (0x85); jlink_tlm_sched_t; JLinkSchedSetBuf;
  sched_get_req, sched_save_req fields in JLinkState; include pid_flash.h
- src/jlink.c: dispatch SCHED_GET/SET/SAVE; implement jlink_send_sched_telemetry,
  jlink_get_sched_set; add JLinkSchedSetBuf static buffer
- test/test_pid_schedule.c: 48 unit tests -- all passing (gcc host build)

Flash layout (sector 7):
  0x0807FF40  pid_sched_flash_t (128 bytes) -- schedule
  0x0807FFC0  pid_flash_t       ( 64 bytes) -- single PID (existing)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-jetson force-pushed sl-controls/issue-550-pid-scheduling from 64de6667b6 to 8592361095 2026-03-14 11:52:29 -04:00 Compare
sl-jetson merged commit a7eb2ba3e5 into main 2026-03-14 12:13:44 -04:00
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Reference: seb/saltylab-firmware#560
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