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Tilt compensation for self-balancing on slopes #600

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opened 2026-03-14 14:55:23 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 14:55:23 -04:00
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Extend the balance PID controller to handle inclines up to 15°. Problem: on a slope, the gravity vector offset tricks the balance controller into thinking it is tilting. Solution: estimate the slope angle from sustained accelerometer bias and subtract it from the tilt measurement. Add a slow-adapting (tau=5s) slope estimator. Limit slope compensation to ±15°. Add JLINK telemetry for slope_estimate_deg. Unit tests with simulated slope scenarios.

Extend the balance PID controller to handle inclines up to 15°. Problem: on a slope, the gravity vector offset tricks the balance controller into thinking it is tilting. Solution: estimate the slope angle from sustained accelerometer bias and subtract it from the tilt measurement. Add a slow-adapting (tau=5s) slope estimator. Limit slope compensation to ±15°. Add JLINK telemetry for slope_estimate_deg. Unit tests with simulated slope scenarios.
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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#600
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